METHOD FOR OPERATOR SUPPORT USING AUGMENTED REALITY IN REMOTE CONTROL OF GROUND MOBILE ROBOT IN CASE OF DELAYS IN INFORMATION TRANSMISSION CHANNELS Russian patent published in 2023 - IPC G09G5/377 

FIELD: robotics.

SUBSTANCE: method proposes overlaying the video image received with a delay from a video camera of a mobile robot with graphic objects showing the position and orientation of the robot, taking into account the delay when it receives the operator’s commands transmitted at the current time, as well as the movement trajectory to this position. The method uses the features of the ratio of the delays in the transmission of video data and telemetry in real remote control systems. To implement it, the position and orientation of the robot are calculated in two stages relative to the position recorded by the video camera and displayed on the monitor of the control panel. At the first stage, based on the telemetry received from the robot by the current moment, its movement to the position relevant for the moment of sending the last received data packet is calculated. At the second stage, the remaining part of the movement is calculated based on the information about the operator's commands stored in the console memory. After that, a label is displayed on the monitor in augmented reality mode, representing the predicted position and orientation of the robot, as well as the trajectory of its movement.

EFFECT: increased accuracy of control in case of time delays.

1 cl, 6 dwg