Abstract
BackgroundIt is known that the work efficiency of teleoperated construction machinery is lower than that of directly operated machinery. Assistance via automatic control is expected to improve the work efficiency. However, this assistance might break the feeling of control and prohibit control adjustments by the operator.MethodsWe propose a semiautomatic system that fuses manual and automatic operation while maintaining the same feeling of control as manual operation. The assistance approach to the working trajectory is based on the assumption of the existence of an ideal trajectory for the hoist swing that is a major component of an excavator. We evaluate the feeling of control using a sense of agency.ResultsThe results of an examination using a miniature excavator show that the assistance improved the perspective error from manual with a high sense of agency.ConclusionsTherefore proposed assistance was effective during teleoperation without a sense of perspective.
Highlights
It is known that the work efficiency of teleoperated construction machinery is lower than that of directly operated machinery
The development of unmanned construction using teleoperation has been accelerated for disaster sites or mines
It is known that the work efficiency of teleoperated construction machinery is lower than that of directly operated machinery [1]
Summary
It is known that the work efficiency of teleoperated construction machinery is lower than that of directly operated machinery. Assistance via automatic control is expected to improve the work efficiency. This assistance might break the feeling of control and prohibit control adjustments by the operator. It is known that the work efficiency of teleoperated construction machinery is lower than that of directly operated machinery [1]. Unmanned construction work for practical use may be realized by teleoperation and autonomous operation. Autonomous operation plans and controls the construction machine with measured around information. The complete calculation of the behaviors of stone and sand is difficult, as these behaviors may change owing to the machine control, the weight, the ratio of water content, the ratio of
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