WareVR is a novel human-robot interface based on a virtual reality (VR) application to interact with a heterogeneous robotic system for automated inventory management. We have created an interface to supervise an autonomous robot remotely from a secluded workstation in a warehouse that could benefit during the current pandemic COVID-19 since the stocktaking is a necessary and regular process in warehouses, which involves a group of people. The proposed interface allows regular warehouse workers without experience in robotics to control the heterogeneous robotic system consisting of an unmanned ground vehicle (UGV) and unmanned aerial vehicle (UAV). WareVR provides visualization of the robotic system in a digital twin of the warehouse, which is accompanied by a real-time video stream from the real environment through an on-board UAV camera. Using the WareVR interface, the operator can conduct different levels of stocktaking, monitor the inventory process remotely, and teleoperate the drone for a more detailed inspection. Besides, the developed interface includes remote control of the UAV for intuitive and straightforward human interaction with the autonomous robot for stocktaking. The effectiveness of the VR-based interface was evaluated through the user study in a "visual inspection" scenario.
翻译:WareVR是一种基于虚拟现实(VR)应用的新颖的人类机器人界面,它与用于自动库存管理的多元机器人系统互动。我们已经建立了一个接口,从一个在目前流行的COVID-19期间可能受益的仓库的隐蔽工作站远程监督一个自主机器人,因为清点是仓库中一个必要和定期的过程,涉及一群人。拟议的接口使没有机器人经验的正规仓库工人能够控制由无人驾驶地面飞行器和无人驾驶航空飞行器(UAV)组成的机器人系统。WareVR在仓库的数码双胞胎中提供机器人系统的可视化,同时通过机载UAVAV摄像机从实际环境中实时视频流。操作者利用WareVR接口可以进行不同程度的清点、远程监测库存过程和远程操作无人机进行更详细的检查。此外,开发的接口还包括对无人驾驶地面飞行器进行远程控制,以便与自动清点的自主机器人进行直觉和直截的人类互动。VR基界面的有效性通过用户研究在“视觉检查情景”中评估用户评估。