航空学报 > 2023, Vol. 44 Issue (1): 26333-026333   doi: 10.7527/S1000-6893.2022.26333

月球车地面遥操作技术发展现状与未来展望

李卫华1(), 郭军龙1, 丁亮2, 高海波2   

  1. 1.哈尔滨工业大学(威海) 汽车工程学院,威海 264201
    2.哈尔滨工业大学 机电工程学院,哈尔滨 150001
  • 收稿日期:2021-09-07 修回日期:2021-10-09 接受日期:2022-01-25 出版日期:2023-01-15 发布日期:2022-02-28
  • 通讯作者: 李卫华 E-mail:liweihua@hit.edu.cn
  • 基金资助:
    国家自然科学基金(52175007);中国博士后科学基金(2018M630348);机器人技术与系统国家重点实验室自主课题(SKLRS202005B)

State of art and prospects of ground teleoperation technology for lunar rover

Weihua LI1(), Junlong GUO1, Liang DING2, Haibo GAO2   

  1. 1.School of Automotive Engineering,Harbin Institute of Technology (Weihai),Weihai 264201,China
    2.School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001,China
  • Received:2021-09-07 Revised:2021-10-09 Accepted:2022-01-25 Online:2023-01-15 Published:2022-02-28
  • Contact: Weihua LI E-mail:liweihua@hit.edu.cn
  • Supported by:
    National Natural Science Foundation of China(52175007);China Postdoctoral Science Foundation(2018M630348);Self-Planned Task of State Key Laboratory of Robotics and System (HIT)(SKLRS202005B)

摘要:

针对月球车在地球-月球大通信时延、月表复杂环境下的地面遥操作技术进行了分析,回顾了苏联、美国、中国已成功发射月球车的控制技术或者远程控制技术现状。为了解决当前月球车采用的“移动-等待”模式低效率难点,结合地面轮式移动机械臂在运动学约束、小时延、多自由度映射等方面的技术现状,从通信时延及时延补偿策略、月表松软月壤带来的纵向/侧向滑动、机器人遥操作理论等3个方面,对月球车进行连续遥操作所面临的关键技术进行了梳理。最后,对未来月球探测工程中的月球车地面遥操作技术发展方向进行了展望。

关键词: 月球车, 地面遥操作, 大时延, 松软地形, 动力学

Abstract:

This paper analyzes the ground teleoperation technology of the lunar rover under the conditions of big Earth-Moon communication time delay and complex lunar surface, and reviews the current situation and progress of the control technology or the remote control technology for lunar rovers successfully launched by the Soviet Union, the United States and China. To overcome the low efficiency induced by the “move-wait” teleoperation mode, the key technologies for continuous teleoperation of the lunar rover are analyzed. Existing technologies of the ground wheeled mobile manipulator for kinematic constraints, small time-delay and multi-degree of freedom mapping are summarized, including the communication time-delay and time-delay compensation strategy, the longitudinal/lateral sliding caused by the soft soil on the lunar surface, and the robot teleoperation theory. The ground teleoperation technology of the lunar rover in the future lunar exploration project is also discussed.

Key words: lunar rover, ground teleoperation, big time-delay, soft terrain, dynamics

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