Remote Vehicle Telepresence and Three Dimensional Video Systems for Use in Heavy Earth Moving Equipment 961754

The goal of this paper is to discuss and evaluate audio and video human feedback systems for use in the control of remotely operated heavy earth moving equipment. A CASE 621 mid sized front end loader is used as the basis for evaluating remote vehicle systems for use in heavy earth moving equipment where removal of the operator from the vehicle cabin may reduce operator injuries and deaths resulting from operations in dangerous environments. This is the objective of the Teleoperated Automated Maintenance Equipment Robotics project (TAMER). A remote vehicle workstation which can be mounted in a pick-up truck bed has been developed to evaluate remote control of the vehicle and operator feedback requirements. The primary means of feedback for successful control of the remote vehicle is through the use of a transmitted three dimensional video image used to duplicate the operators on-board visual environment. Performance comparisons are made between in-vehicle operations and the use of line-of-sight, two dimensional, and three dimensional video feedback systems coupled with a simple monaural audio feedback system. Camera mounting and control systems, and field of view requirements are also evaluated. Suggestions for improvements to the system are based on field trials of the complete remotely operated endloader and audio/visual feedback system.