Key Technology Research Of Teleoperation Based On Augmented Reality

For the development limit of artificial intelligence technology, intelligent devices can not self-determinationedly accomplish their works safely and effectively in a long and foreseeable time. The development direction of intelligent devices turns to let human take an active part in from fully autonomy only by intelligent devices. Now teleoperation systems combine the intelligence of human beings and the limited autonomy of intelligent devices, which can extend the human being's abilities of apperception and operation, replace people to finish their job in some dangerous, abominable or excessive environment. So teleoperation systems have gained considerable attention and become a hot topic all over the world in recent years with numerous new application areas. Augmented reality is an advanced human-machine interface which has the following three characters: registers (aligns) real and virtual objects with each other; combines real and virtual objects in a real environment; runs interactively and in real time. Aim at the time delay existing in the teleoperation system, augmented reality is introduced into teleoperaton system to improve the maneuverability and security. This dissertation does some in-depth investigations on development the teleoperation environment based on augmented reality, friendly human-machine interface on teleoperation, predictive control and time delay. Firstly, for the absence of the earlier knowledge of remote environment and difficulties to module the unstructured environment, teleoperation environment based on vision-tracking augmented reality is developed after study and analyse the theories and algorithm of register real and virtual objects each other. In order to provide the vision telepresence to the operator, stereo-vison display system is built. Secondly, friendly and effectively man-virtual excutable devices interface is developed based on multi-ways interaction technologies. As time delay can cause an unsteady teleoperation system and reduce the maneuverability, hand pose input technologies, virtual hand, position tacking is realized to improve the maneuverability. Thirdly, predictive control and simulation based on augmented reality is realized. The operator can not get real-time response from the remote working site, which will lead the operator tired easily and worsen dynamic respondence. Predictive control and virtual exercise based on augmented reality can eliminate the wrong control commands, guide the operator accomplish tasks rapidly and safely. Fourthly, time delay is surveyed and delay model is presented base on measure data for Internet. The affection of time delay is discussed. At last, teleoperation system prototype is setup based on augmented reality and test is practiced over the LAN and Internet.