Quang Hoan Le

Study on development of easy operating system for field robot in virtual reality environment

Hydraulic excavators are among the most versatile earthmoving equipment: these machines are used in civil engineering, hydraulic engineering, grading and landscaping, pipeline construction and mining. Especially, in flattening task, the excavator operator actuates the machine controls (joysticks, pedals and switches) in an organized form to achieve the desired straight motion. The actuation of these controls is a complex and not intuitive task, and therefore it requires long and costly training periods. Applying automation in these types of field robot is studied by several researchers. This paper proposes an easy operating system for field robot. This design lets each joystick perform independent horizontal and vertical motions of the end of bucket. The proposed method allows an user to control the excavator intuitively and operate complex motions smoothly with no constraints. For this, a virtual excavator scheme with a joystick control has been developed. Besides, the virtual reality interface is designed to allow the user be able to observe the motion of the attachment.

A Study on Remote Control System Integrated Intuitive Vision System for Field Robot Using Head Tracker system

Operating excavator on the risk surroundings is not safe for human to control on site. Consequently, automatic excavator called Field Robot has been researched to protect the workers from the hazardous environments. The remote excavation system is required to perform in such environments. This paper presents the study on remote control system for the Field Robot and intuitive vision system for user via head tracker system. The design of the remote control system consists Remote Station and Filed Robot. In Remote Station, user can send the control commands through wireless communication. Besides, the IMU sensor is integrated in head mounted display (HMD) to measure the motion of humans head. These signals are transferred to the pan/tilt motor controller and operate the motion of the CCD camera following the movement of operators head. The Field Robot is also contributed and some experiments are carried out to prove the feasibility of the proposed system.

Development of the flexible observation system for a virtual reality excavator using the head tracking system

Operating excavator on the risk surroundings is not safe for human to control on site. Consequently, automatic excavator called Field Robot has been researched to protect the workers from the hazardous environments. The remote excavation system is required to perform in such environments. This paper presents the study on remote control system for the Field Robot and augmented reality vision for user using head tracker system. The design of the remote control system that consist Remote Station and Filed Robot. In Remote Station, user can send the control commands through wireless communication. Besides, the Inertial Measurement Unit (IMU) sensor is integrated in a head mounted display (HMD) to track the motion of humans head. These signals are transferred to the pan/tilt motor controller and to operate the motion of the CCD camera following the movement of operators head. The Field Robot is also contributed and some experiments are carried out to prove the feasibility of the proposed system.