Research On Augmented Reality Technology For Trajectory Planning Verification Of Teleoperation Robot

In the unfamiliar,dangerous or inappropriate environment for astronauts,teleoperation robots perform tasks with problems such as time delay,low accuracy and low efficiency of remote control operations.The trajectory verification of teleoperation robots by augmented reality is an effective way to solve the problems of time dealy and low efficiency.Through the augmented reality,design and develop an augmented reality system,verify the trajectory of the teleoperation robots,control the simulated robot to act on commond according to the real image,and let the real robot perform the actual control,which can improve the efficiency of remote control of the teleoperation robot and the accuracy of the specified action.This paper takes augmented reality technology as the research background,and the trajectory planning verification of teleoperation robot as the research application environment.With the help of augmented reality based on manual maker,the key technologies of augmented reality and augmented reality simulation remote control are studied.The specific research contents are described as follows:Firstly,the key technology and realization of augmented reality are studied.The difficulties in realizing augmented reality are analyzed from key points and the realizing process of augmented reality is grasped as a whole from the system level.What's more,the implementation of augmented reality with Unity3 D,VS and Hololens are studied.Then VS is selected as the augmented reality implementation tool.Secondly,in order to find the position of virtual objects in the real world and realize three-dimensional registration,design a marker and the identification method of markerbased is studied.Read a frame of image,through the gray processing and image binarization of this frame of pictures,edge detection and straight line detection to identify the manual maker,and using connected component analysis method to identify artificial identification,so as to achieve three-dimensional registration of augmented reality.Third,ARTOOLKIT is introduced as an augmented reality tool in order to place virtual objects in the corresponding positions in the real world and achieve the virtualreal fusion.ARTOOLKIT toolkit is applied to study its architecture and implementation process to realize the virtual-real fusion and augmented reality.In order to know the position relationship between the virtual object and the real world,the transformation relationship between coordinate systems when using ARTOOLKIT is studied.The original registration module is improved to solve the problem that the augmented reality can not be realized under the condition of obscuring the vertex of the manual maker,which enhances robustness and realizes augmented reality.Fourth,the integration of each module forms a complete augmented reality system of teleoperation robots.At the same time,the system can recognize the manual marker on the robot,verify the trajectory planning of the teleoperation robots,make virtual robot perform corresponding actions according to the commands and take the appropriate route.Finally,the positioning accuracy of the teleoperation robot augmented reality system is evaluated.The positional error of the virtual objects superimposed on augmented reality is 2.3%,which meets the actual control need.