Support system for teleoperation of slope shaping by a construction robot

Slope shaping is important work for the prevention of and recovery from sediment disasters. Because of the danger of direct operation at disaster scenes, teleoperation is the most efficient method for slope-shaping. In this paper, we propose a support system for the teleoperation of slope-shaping using a construction robot. The system is composed of two sub-systems: an Augmented Reality (AR) finishing stake system and a system for evaluating finished shape deviation. The former is an AR system which presents a virtual finishing stake to the operator of a construction robot. The latter is an evaluation system which measures the actual shape of the slope in 3D and presents its deviation from the planned shape. Moreover, we developed multiple Computer Graphics (CG) patterns of the finishing stake, and identified an optimal type via experiments. In this paper, we discuss the effectiveness of our system from the results.