Augmented reality (AR)-based programming using the demonstration method has been widely studied. However, studies on AR-based programming for remote robots are lacking because of the limitation of human–computer interaction. This paper proposes an AR-based robot teleoperation system and method using RGB-D imaging and an attitude teaching device. By sending the color and depth images of the remote robot environment to the local side, the operators can complete the teleoperation of the robot at the local side. First, the operators select key positions on the motion path of the robot endpoint from color images via a mouse, and the computer calculates the 3D coordinates of these key points in the robot base coordinate system to complete the position teaching process. In the robot attitude teaching process, the AR technology is used to superimpose the virtual robot model onto the color images of the robot teleoperation environment, so as to make the virtual robot endpoint to move along the teaching path. An operator can use the portable attitude teaching device designed in this study to control the robot movement parameters, such as the attitude and motion speed, during the movement of the virtual robot. After the position and attitude teaching processes, the robot movement trajectory can be generated. To make the base coordinate system of the virtual model consistent with that of the physical robot, we propose an online AR registration method, which does not require manually placing the AR registration marker. The proposed AR-based robot teleoperation system can quickly and easily complete robot teleoperation at the local side.

已经广泛研究了使用演示方法的基于增强现实（AR）的编程。然而，由于人机交互的局限性，缺乏基于AR的远程机器人编程的研究。本文提出了一种使用RGB-D成像和姿态示教器的基于AR的机器人远程操作系统和方法。通过将远程机器人环境的彩色和深度图像发送到本地，操作员可以在本地完成机器人的遥控操作。首先，操作员通过鼠标从彩色图像中选择机器人端点运动路径上的关键位置，然后计算机在机器人基础坐标系中计算这些关键点的3D坐标以完成位置示教过程。在机器人姿态教学过程中，AR技术用于将虚拟机器人模型叠加到机器人遥操作环境的彩色图像上，从而使虚拟机器人端点沿教学路径移动。操作员可以使用本研究中设计的便携式姿态示教设备来控制虚拟机器人运动期间的机器人运动参数，例如姿态和运动速度。经过位置和姿势示教过程后，可以生成机器人的运动轨迹。为了使虚拟模型的基本坐标系与物理机器人的基本坐标系一致，我们提出了一种在线AR注册方法，该方法不需要手动放置AR注册标记。所提出的基于AR的机器人遥操作系统可以在本地快速，轻松地完成机器人遥操作。