Simulation control system for remote tele-operation of lunar rover

Abstract

The invention relates to a simulation control system for the remote tele-operation of a lunar rover in the technical field of virtual reality. The system comprises an off-line analysis module, a map building module, a virtual sensing module, a graphical programming module, a three-dimensional simulation module, a tele-operation module and a manual input module, wherein, the off-line analysis module and the graphical programming module are respectively connected with the three-dimensional simulation module so as to output a moon surface digital geometric model and a path planning procedure, the map building module is connected with a lunar rover system so as to receive the image sequence and a slant angle signal and to output an actual cartographic model to a virtual sensing module, the virtual sensing module outputs an overall map to the graphical programming module, and the tele-operation module receives the simulation result outputted by the three-dimensional simulation module, the simulation program outputted by the graphical programming module and the movement control instruction outputted by the manual input module and outputs the locus control to the lunar rover system. The invention can effectively and safely control the lunar rover, simulates the process of tele-operation control on the lunar rover, and presents online and real-time simulation display.

Description

technical field [0001] The invention relates to a control system in the field of aerospace technology, in particular to a simulation control system for remote teleoperation of lunar vehicles. Background technique [0002] In order to achieve the goal of lunar rover landing and exploration in our country, it is very necessary to develop a simulation control system, which can not only perform online simulation, but also perform remote operation on remote lunar rover, and can also accept manual input to avoid major problems. The occurrence of the accident. [0003] After searching the literature of the prior art, it is found that the Chinese patent publication number CN101083020, the publication date is 2007.12.05, the patent name is: the method for establishing the ground simulation test site of the planetary landing probe, which discloses a ground simulation test of the planetary landing probe The establishment method of the field, including the site selection and design of ...

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Problems solved by technology

[0003] After searching the literature of the prior art, it is found that the Chinese patent publication number CN101083020, the publication date is 2007.12.05, the patent name is: the method for establishing the ground simulation test site of the planetary landing probe, which discloses a ground simulation test of the planetary landing probe The establishment method of the field, including the site selection and design of the test field and the establishment of remote operation information, the establishment of a deep space exploration test field by simulating the comprehensive environmental conditions of the lunar surface test, providing a horizon environment for the remote operation test of the lunar surface patrol detector, and providing The autonomous navigation of the probe provides lighting and detection targets, and realizes the experiment of long-distance remote operation of the planetary landing probe. Poor reliability of ground simulation test results for patrol detectors

However, this invention is only some tests and experiments carried out from the establishment of the ground simulation test site, and does not specify the realization of the control process of the remote operation of the remote lunar vehicle from the control level, and the online real-time simulation shows the problem

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