To improve the safety of construction workers and help workers remotely control humanoid robots in construc-tion,this study designs and implements a computer vision based virtual construction simulation system.For thi...To improve the safety of construction workers and help workers remotely control humanoid robots in construc-tion,this study designs and implements a computer vision based virtual construction simulation system.For this pur-pose,human skeleton motion data are collected using a Ki-nect depth camera,and the obtained data are optimized via abnormal data elimination,smoothing,and normalization.MediaPipe extracts three-dimensional hand motion coordi-nates for accurate human posture tracking.Blender is used to build a virtual worker and site model,and the virtual worker motion is controlled based on the quaternion inverse kinematics algorithm while limiting the joint angle to en-hance the authenticity of motion simulation.Experimental results show that the system frame rate is stable at 60 frame/s,end-to-end delay is less than 20 ms,and virtual task comple-tion time is close to the real scene,verifying its engineering applicability.The proposed system can drive virtual work-ers to perform tasks and provide technical support for con-struction safety training.展开更多
基金The Eighth National “Ten Thousand Talents Plan for Top Young Talents” of Chinathe National Natural Science Foundation of China (No. 52478117, 52378120)。
文摘To improve the safety of construction workers and help workers remotely control humanoid robots in construc-tion,this study designs and implements a computer vision based virtual construction simulation system.For this pur-pose,human skeleton motion data are collected using a Ki-nect depth camera,and the obtained data are optimized via abnormal data elimination,smoothing,and normalization.MediaPipe extracts three-dimensional hand motion coordi-nates for accurate human posture tracking.Blender is used to build a virtual worker and site model,and the virtual worker motion is controlled based on the quaternion inverse kinematics algorithm while limiting the joint angle to en-hance the authenticity of motion simulation.Experimental results show that the system frame rate is stable at 60 frame/s,end-to-end delay is less than 20 ms,and virtual task comple-tion time is close to the real scene,verifying its engineering applicability.The proposed system can drive virtual work-ers to perform tasks and provide technical support for con-struction safety training.
