基于头戴设备和手柄的机械系统远程控制方法

设计了一种基于头戴式设备和操作手柄的机械系统远程控制方法，该方法使用操作手柄的位姿信息远程控制机械系统的运动，并通过计算头戴式设备与操作手柄的之间相对位姿来控制机械系统上的图像采集设备；基于本方法，在增强现实眼镜工程样机及其连接的智能手机上进行了对机械系统及其上图像采集设备的远程控制的系统实现，并在四足机器人和四轮小车两种机械系统上对本方法进行了实验验证；实验结果表明本方法具备较好的可行性和实用性，让使用者更有身临其境的沉浸式现场感；同时，无需部署外置的姿态捕捉设备，对使用场地环境也没有要求，可以在室内外环境下使用。

Remote Control Method for Mechanical System Based on Head Mounted Device and Operating Handle

A remote control method for mechanical system based on head mounted device and operating handle, which using the pose information of operating handle to control the moving of the mechanical system , and calculating the relative pose between head mounted device and operating handle to control the image acquisition equipment on the mechanical system. Based on this method, a system was developed on an AR glasses engineering prototype which connected to a smart phone, and the feasibility is verified by experiments on two types of mechanical systems: a quadruped robot and a four-wheel car. The experimental results show that this method is feasible and practical, and makes the user feel more immersive. At the same time, there is no need to deploy external attitude capture equipment, and there is no requirement for environment, so it can be used in indoor and outdoor environments.