Remote Sensing And Control System Based On VR

Telerobot system is widely used in medicine,aerospace,military,etc.and the observation quality is improved by the immersion of the environment where the robot works,which is conducive to operate the robot remotely.In this paper,a remote sensing and control system based on virtual reality is presented,which is designed to transmit and redisplay the remote binocular stereo vision.At the same time,the pose synchronization system of the operator's head and remote camera is designed to realize the seamless connection between the operator and the remote scene based on VR helmet.The system provides full immersion stereo visualization of the remote scene to the operator,which improves the perception quality effectively in remote technical.This system is composed with the wearable VR device for local control terminal and the humanoid Nao robot with a binocular camera for remote execution terminal.The main research works are as follows:(1)The method of stereo vision reproduction.Around the wireless video transmission technology,carring out the deployment of video streaming server and selection of wireless communication scheme,relying on wearable VR devices and unity3D virtual development platform to reproduce the 3D visualization.(2)Remote vision guidance strategy.Combined with the needs of switching perspective,the camera synchronization scheme based on VR helmet pose control is designed,and the instruction data service gateway based on cloud server and LAMP integrated development environment is established.(3)Intelligent interactive control method.Deeply analyzes the principle of touch panel and the robot movement,designing the ways of receiving commend,and realizes the control of the telerobot.The results show that the system is able to reproduce the stereo vision and control the telerobot,and provides a feasible resolution for controlling the telerobot in full immersion sence.