天体表面探测遥操作模拟验证系统设计与实现  

Design and Construction of a Simulating and Testing System for the Remote Operation of Planetary Surface Exploration

作　　者：李立春[1] 李剑[1] 王镓[1] 于天一[1] 刘传凯[1] 李楠[2] 万文辉 LI Lichun;LI Jian;WANG Jia;YU Tianyi;LIU Chuankai;LI Nan;WAN Wenhui(Beijing Aerospace Control Center,BeiJing 100094,China;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China;State Key Laboratory of Remote Sensing Science,Aerospace Information Research Institute,Chinese Academy of Sciences,Beijing 100101,China)

机构地区：[1]北京航天飞行控制中心,北京100094 [2]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001 [3]中国科学院空天信息创新研究院,北京100101

出　　处：《深空探测学报（中英文）》2022年第1期72-79,共8页Journal Of Deep Space Exploration

基　　金：国家自然科学基金资助项目(52005122,61972020,62003025)。

摘　　要：针对天体表面探测遥操作模拟验证需求和特点,设计实现了综合天体表面地形模拟、模拟星球车、地形扫描测量与遥操作处理评估等功能的天体表面探测遥操作模拟验证系统。以人工砂搭建可变形表面模拟环境,研制了具有感知、移动及规划结果响应功能的模拟星球车,提出了基于激光扫描的地形测量与星球车位姿测量方法,建立了基于模拟场景和星球车的天体表面探测遥操作模拟验证系统,对火星表面探测的感知、规划等关键作业过程进行了模拟验证,为天体表面探测遥操作实际实施提供了有力支撑。According to the requirements and characteristics of simulation and verification for celestial surface remote operating,a simulating and testing system is build for remote operation of planetary rover.The system is composed of the 3D terrain environment,a simulating planetary rover,a terrain scanning system and a remote operating testing software.The simulated deformable 3D terrain is made of large man-made sand.A simulated planetary vehicle is installed with sensing cameras,movable mechanisms].A method of terrain survey,rover position and gesture measurement based on laser scanning is proposed.A simulation and verification system for celestial surface exploration teleoperation based on simulation scene and planetary rover is established.The system is used in the simulation and verification of the key operational processes of Mars surface exploration,such as perception and planning,and provides strong support for the practical implementation of celestial surface remote operation.

关 键 词：天体表面 遥操作 星球车 模拟地形 地形扫描 位姿测量 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]