AR系统实时辅助仓内人机协作，自动避让遮挡物提升效率与安全。
ARTOO-DARTU: Studying AR-HRC With AR Obstruction Mitigation During a Warehouse Task
- 设计动态遮挡检测与规避机制，确保增强现实信息不遮挡真实环境。
- 实验显示任务效率提升46%，需视线清晰的子任务提速61%。
- 适合仓库场景中需高安全性和实时反馈的人机协作研究与应用。
人机协作（HRC）常需向用户传递机器人意图与内部状态以提升任务效率与安全性。近年来，增强现实（AR）情境化分析在HRC场景中提供实时机器人反馈。然而，AR情境化分析可能遮挡重要现实元素，带来安全与可用性风险，尤其在移动机器人动态位移的仓库协作场景中。本文提出针对仓内人机协作定制的ARTOO-DARTU系统，支持实时情境化分析与控制，通过专为AR-HRC设计的遮挡检测与缓解管道（ODM），保障真实世界可见性。为评估该系统，我们开发了Pocket MonstARs——一个受控的、游戏化的仓内拣货抽象任务，虚拟怪物作为拣选目标，标注的实物盒子保留真实识别需求。34名参与者参与的实验表明，仅当ODM激活时，整体任务效率提升46%；在需要视觉清晰的子任务中，参与者速度提高61%。结果表明，结合所设计的ODM避免现实遮挡后，ARTOO-DARTU的情境化分析能显著提升仓内AR-HRC的效率与用户体验。
原文摘要 · Abstract (English)
Human-robot collaboration (HRC) often requires robot intentions and internal states to be conveyed to users for task efficiency and safety. Recently, augmented reality (AR) situated analytics provide such real-time robot feedback in HRC contexts. However, AR situated analytics can obstruct important real-world elements, posing safety and usability risks, especially when content is dynamically positioned relative to movements of mobile robots in a warehouse HRC scenario. In this paper, we introduce the Augmented Reality Technique Of Obstruction Deterrence while Aiding Robotic Teaming for Users (ARTOO-DARTU), an AR system tailored specifically for warehouse HRC that enables real-time robot situated analytics and control while preserving visibility of the real world through an obstruction detection and mitigation pipeline (ODM) that is uniquely suited for AR-HRC. To evaluate ARTOO-DARTU, we developed Pocket MonstARs, a controlled gamified abstraction of HRC warehouse inventory picking in which virtual monsters serve as proxies for pick targets, while labeled and object-marked boxes preserve the real-world identification demands of the picking task. In a 34-participant user study, we found that our designed AR situated analytics yielded a 46% increase in efficiency on the overall HRC task, but only when the ODM was active. Participants with the ODM active were also 61% faster on subtasks requiring visibility of the real world. Our findings demonstrate that, when paired with our developed ODM to prevent real-world obstructions, the situated analytics in ARTOO-DARTU can significantly enhance efficiency and user experience in AR-HRC warehouse scenarios.
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