Handling time delay of sensor data processing in a model based remote operation environment

Authors:
Christoph Walter;Erik Schulenburg;Daniel Beier;Norbert Elkmann
Affiliations:
Fraunhofer Institute for Factory Operation and Automation, Magdeburg, Germany;Fraunhofer Institute for Factory Operation and Automation, Magdeburg, Germany;Fraunhofer Institute for Factory Operation and Automation, Magdeburg, Germany;Fraunhofer Institute for Factory Operation and Automation, Magdeburg, Germany
Venue:
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
Year:
2007

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Abstract

Many of today's inspection systems for underground sewer pipes consist of a single TV-Camera on an operator controlled vehicle [1]. The live-video of this camera is the primary tool for teleoperation and damage assessment. Recent developments in the field have lead to systems with more advanced sensors as well as a greater degree of autonomy. While human involvement in teleoperation is still necessary, the operator interface has to meet different challenges compared to conventional systems. Here we present an augmented virtual environment that can be used by the operator for supervisory control of our semi-autonomous inspection system for large underground sewer pipes under operating conditions. At runtime the virtual environment is constructed using results from a number of data-processing modules that are unable to deliver their output in time for live-display. To overcome this problem we introduce the use of spatially arranged time domains. We then show in detail how this technique is applied to achieve an overall consistent visualization.