载人月球探测混合现实遥操作控制总体方案研究  

Research on Mixed Reality Teleoperation Control Scheme for Manned Lunar Exploration

作　　者：王鹏基[1,2] 邢琰 孙赫婕[1,2] 王硕 WANG Pengji;XING Yan;SUN Hejie;WANG Shuo(Beijing Institute of Control Engineering,Beijing 100094,China;National Key Laboratory of Space Intelligent Control,Beijing 100094,China)

机构地区：[1]北京控制工程研究所,北京100094 [2]空间智能控制国家级重点实验室,北京100094

出　　处：《载人航天》2021年第6期681-687,共7页Manned Spaceflight

基　　金：智能制造专项行动计划(JCKY2018203A001)。

摘　　要：针对当前无人月球车月面巡视探测遥操作控制效率较低的问题,提出了一种基于运动预测修正和混合现实仿真技术的地月准实时遥操作控制系统总体方案。通过对月面任务操作现场进行精确三维重建和增强信息显示,实现虚实场景动态匹配;通过对月面移动机器人进行融合定位和时延运动预测,实现虚拟场景下机器人遥操作移动控制的准实时性。构建了一套混合现实月面遥操作半实物仿真试验系统,并进行了遥操作控制误差测试。结果表明,该方案实现了远程可视的、闭环的、准实时的月面移动探测遥操作控制,提高了遥操作探测效率和操控人员的体验感,实验室内遥操作控制误差优于20cm。To solve the low control efficiency problem during lunar surface patrol or exploration teleoperation of the unmanned lunar rover,an overall scheme of earth-moon quasi-real-time teleoperation control system based on motion prediction correction and mixed reality simulation technology was proposed.The dynamic matching of virtual and real scenes was realized through accurate 3D reconstruction and enhanced information display of lunar mission operation site.Through the fusion positioning and delay motion prediction of lunar mobile robot,the quasi-real-time control of robot teleoperation in virtual scene was realized.A hardware-in-the-loop simulation system for lunar teleoperation was constructed and the control accuracy was tested.The results showed that the scheme could realize remote visual,closed loop,quasi-real-time remote control of the lunar surface movement detection.The efficiency of teleoperation detection and the experience of the operator were improved.Then control accuracy of teleoperation in laboratory was better than 20 cm.

关 键 词：载人月球探测 准实时遥操作 预测修正 混合现实仿真 总体方案 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]