基于头戴设备和手柄的机械系统远程控制方法  

Remote Control Method for Mechanical System Based on Head Mounted Device and Handle

作　　者：陈琼 吴武豪 陈少尉 CHEN Qiong;WU Wuhao;CHEN Shaowei(CETHIK Group Co.,Ltd.,Hangzhou 311100,China)

机构地区：[1]中电海康集团有限公司,杭州311100

出　　处：《计算机测量与控制》2023年第1期113-119,共7页Computer Measurement &Control

基　　金：国家自然科学基金(U20B2074);国家科技重大专项(2018ZX010281,子课题2018ZX01028102-004)。

摘　　要：设计了一种基于头戴式设备和操作手柄的机械系统远程控制方法,该方法使用操作手柄的位姿信息远程控制机械系统的运动,并通过计算头戴式设备与操作手柄的之间相对位姿来控制机械系统上的图像采集设备;基于本方法,在增强现实眼镜工程样机及其连接的智能手机上进行了对机械系统及其上图像采集设备的远程控制的系统实现,并在四足机器人和四轮小车两种机械系统上对本方法进行了实验验证;实验结果表明本方法具备较好的可行性和实用性,让使用者更有身临其境的沉浸式现场感;同时,无需部署外置的姿态捕捉设备,对使用场地环境也没有要求,可以在室内外环境下使用。A remote control method for mechanical system based on head mounted device and operating handle is proposed, the pose information of operating handle is used to control the movement of the mechanical system, and the relative pose between the head mounted device and operating handle is calculated to control the image acquisition equipment on the mechanical system. Based on this method for an AR glasses engineering prototype which connected to a smart phone, the remote control between the mechanical system and image acquisition equipment is realized, and the feasibility of this method is verified by the experiments on two types of mechanical systems(a quadruped robot and a four-wheel car). The experimental results show that this method has good feasible and practical. At the same time, It is not necessary to deploy external attitude capture equipment, and there is no requirement for environment, so it can be used in indoor and outdoor environments.

关 键 词：遥操作 远程控制 机械系统 增强现实 虚拟现实 

分 类 号：TP31[自动化与计算机技术—计算机软件与理论]