嫦娥五号月面采样遥操作中的关键技术  

Key technologies in the teleoperation of the Chang’e-5 lunar sampling

作　　者：刘传凯[1,2] 李剑 张天柱[3] 刘茜 黄泽远 张济韬 高宇辉 于天一 张宽[1] 常天宇 吴杰[1,2] 杨成[1,2] 李贵良 邓嘉诚 徐楠青[3] 冯晓萌 LIU ChuanKai;LI Jian;ZHANG TianZhu;LIU Qian;HUANG ZeYuan;ZHANG JiTao;GAO YuHui;YU TianYi;ZHANG Kuan;CHANG TianYu;WU Jie;YANG Cheng;LI GuiLiang;DENG JiaCheng;XU NanQing;FENG XiaoMeng(Beijing Aerospace Control Center,Beijing 100094,China;Key Laboratory of Science and Technology on Aerospace Flight Dynamics,Beijing 100094,China;School of Electronics Engineering and Computer Science,University of Science and Technology of China,Hefei 230026,China;School of Automation,Beijing University of Posts and Telecommunications,Beijing 100088,China)

机构地区：[1]北京航天飞行控制中心,北京100094 [2]航天飞行动力学技术重点实验室,北京100094 [3]中国科学技术大学信息科学技术学院,合肥230026 [4]北京邮电大学自动化学院,北京100088

出　　处：《中国科学：技术科学》2022年第3期473-488,共16页Scientia Sinica(Technologica)

基　　金：国家自然科学基金(批准号:61972020,62003025);装备预研国防科技重点实验室基金(编号:19NY1208,6142210200307)资助项目。

摘　　要：2020年12月17日,嫦娥五号返回器成功返回地面着陆,获取1731 g月壤样品,这标志我国探测工程"绕落回"三步走战略圆满收官.月面采样是采样返回任务的核心环节,是我国首次在月球表面实施的复杂操控类任务.月面采样包括岩心钻探取样和月壤表取采样任务两个部分,受制于月面采样任务的复杂性和探测器自主能力的局限性,采样工作在地面遥操作中心的监视、引导与控制下开展.本文在对嫦娥五号月面采样的难点进行分析的基础上,将月面采样遥操作关键技术归纳为采样任务规划、多特征融合视觉定位、机械臂采样最优构型设计和采样虚拟仿真四个方面,并对四个方面技术的发展与研究现状进行综述,结合嫦娥五号任务特点,阐述了四项技术的主要实现途径及其创新性应用特点,分析了各种技术在月面采样任务实施中的关键性支撑作用,评述了其未来发展潜力和应用前景,对我国后续地外天体表面采样任务的实施和遥操作模式的设计具有重要的指导意义.The Chang’e-5 returner successfully returned to Earth on December 17,2020,after collecting 1731 g of lunar soil samples.This marks the successful completion of the third step of the“surrounding,landing,and returning”strategy of the Chinese Lunar exploration project.Lunar surface sampling is the core component of the sampling return mission,and this is the first time a complex mission has been carried out on the lunar surface by China.The lunar sampling includes two components:sampling via deep drilling into the lunar interior and shoveling soil on the lunar surface.Because of the complexity of the lunar sampling task and the limitations on the autonomous capability of the Chang’e-5 explorer,the sampling work was implemented via the monitoring,guidance,and control of the ground teleoperation center.Based on an analysis of the difficulties in the Chang’e-5 lunar surface sampling mission,the key technologies for the teleoperation of lunar surface sampling are summarized into four aspects:task planning,multi-featurefused visual positioning,optimal configuration design of the manipulator,and virtual simulations of the robotic sampling.In this paper,the development and research status of each key technology of these four aspects is summarized and surveyed.Combined with the characteristics of the Chang’e-5 tasks,this paper presents the main technical approaches and the innovative applications of these four technologies,analyzes the key supporting role of each technology in the implementation of the lunar surface sampling tasks,and comments on their future development potential and application prospects.These technologies are important for subsequent surface sampling missions of extraterrestrial bodies and the design of Chinese teleoperation modes.

关 键 词：嫦娥五号 机械臂采样 多特征融合定位 任务规划 机械臂构型设计 虚拟仿真技术 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]