Environmental space robot heaven-earth teleoperation system with complex structure

Abstract

The invention relates to an environmental space robot heaven-earth teleoperation system with the complex structure. The system comprises a software system and a hardware system, wherein the software system comprises an on-satellite system, a ground measurement and control system, and a ground instruction generation and visual simulation system; and the hardware system comprises a six-degree-of-freedom air bearing table, a five-degree-of-freedom air bearing table, a multi-degree-of-freedom flexible operation mechanical arm, a binocular camera, a laser measuring sensor, a racemization and capturing tool, an Omega-7 operating handle and driving pedal, and an upper and lower controller. According to the system, a virtual reality technology is adopted, the dynamic three-dimensional environmentbetween the space target and the mechanical arm is dynamically and virtually restored in real time, information such as whether the mechanical arm intersects with the surrounding environment or not iscalculated, switching of different viewing angles of the dynamic three-dimensional environment can be achieved through a keyboard input mode, and a visual platform is provided for teleoperation control of the mechanical arm.

Description

technical field [0001] The invention relates to a space-earth remote operating system for an environment space robot with a complex structure, and belongs to the field of simulation systems. Background technique [0002] At present, the space robot system is mainly divided into two basic operation modes: autonomous operation and teleoperation. Autonomous operation means that the robot completes the corresponding tasks according to its own judgment. It does not require the operator to send control instructions when working, and can replace humans to work. However, limited by the computer level and artificial intelligence technology on the planet, autonomous operation is limited to applications in structured Environment. For the complex space environment, it is difficult to complete the tasks in space by autonomous operation, so the tasks of space robots are mainly completed by teleoperation. The remote operation method can combine human intelligence and robot precision orga...

AI Technical Summary

Problems solved by technology

Ground remote control is generally used for non-repetitive tasks in underwater and nuclear environments, has a better understanding of the working environment, and is generally limited to real-time manual control

In contrast, the environmental model of space teleoperation tasks is incomplete, and the impact of space-ground communication delay is also obvious. Therefore, it is necessary to build a safe, reliable, convenient and economical solution

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