用AR头显实时操控机器人，实现农田的即时监测与自主作业。
Augmented-Reality Enabled Crop Monitoring with Robot Assistance
- 通过AR头显与定制导航系统，实现人机协同操控农业机器人。
- 用户可远程操控机器人采集数据、查看实时状态图，或触发自动巡检。
- 基于二维码和全息坐标系，支持低成本、高精度的田间定位与交互。
增强现实（AR）、扩展现实（XR）和虚拟现实（VR）技术在农业中的融合展现出显著潜力，提升了多种农事操作效率。移动机器人作为精准农业中的评估工具，已显著提高经济效率与生产力，并减少杂草、害虫等不良影响。尽管相关研究进展显著，但兼具多功能用户界面（UI）的AR头显与移动田间机器人在直接交互与控制方面的整合仍缺乏系统探索与标准。本文提出一种基于AR头显的虚拟环境系统，实现对移动机器人在精准农业中实时数据输入与控制输出。系统采用开源计算工具与现成硬件，实现高效集成。通过案例展示，种植者或技术人员可通过AR头显与用户界面操控足式机器人，远程获取兴趣区域信息，请求区域实时状态图表，或指令机器人自主导航至指定区域进行测量更新。该系统结合固定全息坐标系与二维码的自定义本地导航方法，推动了农业中AR与机器人技术的融合，为实时数据管理与人机协作提供实用解决方案。其架构可拓展至多种农业机器人应用，促进田间按需与自主机器人操作的统一框架。
原文摘要 · Abstract (English)
The integration of augmented reality (AR), extended reality (XR), and virtual reality (VR) technologies in agriculture has shown significant promise in enhancing various agricultural practices. Mobile robots have also been adopted as assessment tools in precision agriculture, improving economic efficiency and productivity, and minimizing undesired effects such as weeds and pests. Despite considerable work on both fronts, the combination of a versatile User Interface (UI) provided by an AR headset with the integration and direct interaction and control of a mobile field robot has not yet been fully explored or standardized. This work aims to address this gap by providing real-time data input and control output of a mobile robot for precision agriculture through a virtual environment enabled by an AR headset interface. The system leverages open-source computational tools and off-the-shelf hardware for effective integration. Distinctive case studies are presented where growers or technicians can interact with a legged robot via an AR headset and a UI. Users can teleoperate the robot to gather information in an area of interest, request real-time graphed status of an area, or have the robot autonomously navigate to selected areas for measurement updates. The proposed system utilizes a custom local navigation method with a fixed holographic coordinate system in combination with QR codes. This step toward fusing AR and robotics in agriculture aims to provide practical solutions for real-time data management and control enabled by human-robot interaction. The implementation can be extended to various robot applications in agriculture and beyond, promoting a unified framework for on-demand and autonomous robot operation in the field.
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