AI 中文总结
本文提出基于5G的无线可重构人机协作系统，集成多传感器平台与增强的计算机视觉模块，在匈、挪两地5G环境中验证了其可用于安全自适应人机协作的性能。
AI 中文摘要
人机协作（HRC）在动态、多品种、小批量的工业场景（如再制造）中发挥着至关重要的作用，这类场景常面临工作单元的重新布置。传统设置受限于电力和数据布线，限制了模块化与可重构性，而适用于实时感知和安全协作的商用无线设备选择有限。本文提出一种高度灵活的、基于5G的无线系统，作为适用于再制造、操作员培训和用户研究等应用的通用实验测试平台。为消除基础设施障碍，该工作单元集成了一款新型电池供电的多传感器平台原型。此外，为支持操作员安全及系统在环境变化下的适应性，该系统集成了用于目标检测和位姿估计的计算机视觉模块，该模块进一步增强了鲁棒手部识别功能。该模型在合成数据和真实数据上进行训练，可在不同光照和背景条件下可靠检测定向抓取位姿和人手（mAP@50-95为97.74±0.10%，平均推理时间为12.5 ms）。通过5G将这些计算密集型任务卸载到边缘，所提出的架构有助于解决带宽-延迟权衡问题。为证明可移植性，该系统在匈牙利和挪威均有部署，并在公共与私有、独立（Standalone）与非独立（Non-Standalone）5G基础设施的组合中进行评估。网络实验显示，在兼容的网络-设备配对情况下，往返响应时间低至12 ms，适用于安全、自适应的人机协作。不过，这些测量也揭示了当前5G部署中与互操作性相关的实际限制，未来工作需加以解决。
英文摘要
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.
CommentsAccepted at the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). A supplementary video demonstrating the workcell is available at https://youtu.be/zobin6oytGk
