一种遥操作场景下的混合现实视觉增强交互系统  

A Mixed Reality Visual Augmentation and Interaction System in Teleoperation Scenarios

作　　者：施乐洋 李晓玲[1] 王龙 陈漳沂 郑帅[2] SHI Yueyang;LI Xiaoling;WANG Long;CHEN Zhangyi;ZHENG Shuai(School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049,China;Faculty of Electronic and Information Engineering,Xi’an Jiaotong University,Xi’an 710049,China)

机构地区：[1]西安交通大学机械工程学院,西安710049 [2]西安交通大学电子与信息学部,西安710049

出　　处：《西安交通大学学报》2023年第10期20-29,共10页Journal of Xi'an Jiaotong University

基　　金：陕西省重点研发计划资助项目(2023-YBGY-505)。

摘　　要：针对遥操作机器人系统在高风险任务中近端交互临场感差、操作者难以获得真实体验感的问题,提出了一种适用于遥操作场景的混合现实视觉增强交互系统。首先,针对远程场景传输和机械臂的远程控制这两个重要环节,通过分析遥操作交互任务中的目标需求,从人体视觉感知与认知特性的角度构建并设计了遥操作场景下的视觉增强交互系统框架;然后根据系统功能需求,研究了混合现实场景下的远程视景实时呈现技术,设计了混合现实场景下的机械臂交互控制策略,实现了混合现实全息对象与真实物理场景相映射的虚实融合效果,并以此搭建了遥操作场景下的混合现实视觉增强交互系统,实现了混合现实终端的可视化与系统端到端的网络通信。实验结果表明:与传统的二维系统相比,该交互系统所采用视觉增强形式的任务完成时间减少了17.3%,准确度提高了7%。证明该系统具有较好的应用前景。To address the challenges of poor situational awareness and lack of realistic experience for operators in high-risk teleoperation tasks faced by robotic systems,a mixed reality visual augmentation and interaction system applicable to teleoperation was introduced.Firstly,the system framework was designed from the perspective of human visual perception and cognitive characteristics and based on requirements for teleoperation interaction tasks,with a specific focus on remote scene transmission and robotic arm control in teleoperation scenarios.Secondly,according to the system’s functional requirements,extensive research was conducted on real-time rendering techniques in mixed reality environments,and an interactive control strategy of the robotic arm was developed for mixed reality environments.This effort enabled a fusion effect between virtual and physical scenes by mapping holographic objects to the real-world environment.This supports the establishment of the mixed reality visual augmentation and interaction system that allows operators to visualize the mixed reality terminal and facilitates seamless end-to-end network communication.Experimental results show that the interaction system has better performance than a traditional system,as manifested by a remarkable 17.3%reduction in task completion time and a notable 7%improvement in accuracy.These findings suggest the promising application prospects of the system.

关 键 词：混合现实 遥操作 视觉增强 机器人系统 交互设计 

分 类 号：TP391.7[自动化与计算机技术—计算机应用技术]