用5G无线技术解决人机协作中的布线难题，实现灵活可移动的智能工作台。
Removing Infrastructure Barriers in Human-Robot Collaboration Through Wireless Reconfigurable Cells
- 设计电池供电的多传感器平台，结合5G边缘计算，摆脱有线束缚。
- 手部与物体姿态识别准确率达97.74%，推理速度仅12.5毫秒。
- 已在匈牙利和挪威实测，最低响应延迟达12毫秒，适合工业级安全协作。
人机协作（HRC）在再制造等高混合、低产量的动态工业场景中至关重要，但传统方案受限于电源与数据线缆，难以灵活重组。本文提出一种基于5G的无线、可重构系统，作为再制造、操作员培训与用户研究的通用实验平台。为消除基础设施障碍，工作台集成了一种新型电池供电的多传感器原型机。为保障操作安全并适应环境变化，系统融合计算机视觉模块，实现物体检测与位姿估计，并增强对手部的鲁棒识别。模型在合成与真实数据上训练，可在不同光照和背景条件下可靠检测定向抓取姿态与人体手部，mAP@50-95达97.74% ± 0.10%，平均推理时间为12.5毫秒。通过5G将计算任务卸载至边缘，有效缓解带宽与延迟权衡问题。系统在匈牙利与挪威部署，评估涵盖公共与私有、独立与非独立组网的5G网络，最优条件下往返延迟低至12毫秒，满足安全、自适应人机协作需求。然而，实验也揭示当前5G部署在互操作性方面仍存在实际局限，需在未来工作中改进。
原文摘要 · Abstract (English)
Human-Robot Collaboration (HRC) plays a vital role in dynamic, high mix, low volume industrial scenarios such as remanufacturing, which frequently face workcell rearrangements. Traditional setups are constrained by power and data cabling, restricting modularity and reconfigurations, while the selection of commercial wireless devices suitable for real-time perception and safe collaboration are limited in availability. This paper presents a highly flexible, wireless, 5G-based system that serves as a versatile experimental testbed for applications including remanufacturing, operator training, and user studies. To eliminate infrastructure barriers, the workcell integrates a novel battery-powered, multi-sensor platform prototype. Additionally, to support operator safety and system adaptability across environmental shifts, the system integrates a computer vision module for object detection and pose estimation, further augmented for robust hand recognition. Trained on synthetic and real data, the model reliably detects oriented grasping poses and human hands across varying lighting and background conditions (with an mAP@50-95 of 97.74 +- 0.10% and a mean inference time of 12.5 ms). Offloading these computationally intensive tasks to the edge via 5G, the proposed architecture contributes to resolving the bandwidth-latency trade-off. To demonstrate portability, the system was implemented in both Hungary and Norway, and was evaluated across a combination of public and private, Standalone and Non-Standalone 5G infrastructures. The performed network experiments produced results in round-trip response times down to 12 ms in case of compatible network-device pairings, suitable for safe, adaptive HRC. However, these measurements also revealed practical limitations related to interoperability in current 5G deployments that should be addressed in future works.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。