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AI based tele-operation support through voxel based workspace modeling and automated 3D robot path determination

机译：通过基于体素的工作区建模和自动3D机器人路径确定，提供基于AI的远程操作支持

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The author is developing an intelligent remotely operable robot. Data transfer bandwidth limitations between the local master and the remote slave robot result in constraints on the quality and variety of perceptions that can be presented to the system operator. Machine intelligence at the robot end can alleviate this problem. Based on 'on-line' sensory data, the robot workspace occupancy can be modeled for effective and meaningful 3D representation to the robot operator. The sensory data abstraction is aimed at classifying the robot workspace into free or occupied space, path finding suitable for quick or precise approaches to 'parts to be handled', machine created advice for optimum routing, maneuverability, etc. It is important to develop methods for robust path creation for automated movement of the robot arm without hitting obstacles in the robot's 3D workspace volume. The paper describes the development of methods for 3D volumetric reconstruction of the workspace model through vision based sensing and 3D path finding in the presence of obstacles within the workspace for a 6DoF robot or gantry configuration. Techniques for creating realistic but light models of the workspace occupancy for the specific goal are described. Configuration space model development, obstacle free 3D robot path generation in the workspace and its remote visualization by an operator are dealt with in detail. Several optimization techniques and human intelligence integration are also described.
机译：作者正在开发一种智能的远程可操作机器人。本地主机和远程从机机器人之间的数据传输带宽限制导致对可以呈现给系统操作员的感知质量和感知多样性的限制。机器人端的机器智能可以缓解此问题。基于“在线”感官数据，可以对机器人工作空间的占用进行建模，以向机器人操作员进行有效且有意义的3D表示。感官数据抽象旨在将机器人工作空间分类为自由空间或占用空间，寻找适合“快速处理”“待处理零件”的路径，为最佳路线，可操纵性提供机器创建的建议。开发方法很重要用于创建健壮的路径以实现机器人手臂的自动运动，而不会碰到机器人3D工作区体积中的障碍。本文介绍了在6DoF机器人或龙门配置的工作空间内存在障碍物的情况下，通过基于视觉的感测和3D路径查找来开发工作空间模型的3D体积重建方法的方法。描述了用于为特定目标创建逼真的轻型工作空间占用模型的技术。详细介绍了配置空间模型的开发，工作空间中无障碍3D机器人路径的生成以及操作员的远程可视化。还介绍了几种优化技术和人工智能集成。

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