基于3D交互式路径规划的增强现实遥操作系统

In the graphical predictive teleoperation system with known slave environment, virtual fixture technology is usually used to assist operators in teleoperation in the face of multi-obstacle operation scenarios and narrow operation space. In the teleoperation system of predictive display facing unknown environment, the general virtual fixture technology will not be applicable due to the lack of prior knowledge of the environment. In this paper, a 3D Interactive Path Planning Teleoperation Mode is proposed. Based on the three-dimensional reconstruction of unknown environment, virtual manipulator is registered on the three-dimensional reconstruction scene. The operator uses the hand controller to draw the trajectory in the three-dimensional fusion scene, and the manipulator completes the task according to the desired trajectory. Experiments show that the efficiency of teleoperation using graphical interactive interface technology is improved by 32.9%.