Lunar extravehicular auxiliary operation robot and its control method

Abstract

The invention provides a lunar surface extravehicular auxiliary operation robot and its control method. The lunar surface extravehicular auxiliary operation robot has a left-right symmetrical structure, including: a force-bearing fuselage, a motion system, a visual perception system, an operation system, a power supply system and a control system. system; motion system includes asynchronous self-stable suspension system and lunar wheel system; visual perception system includes binocular stereo vision camera, camera hood, two-degree-of-freedom active servo pan-tilt, pan-tilt dust cover and hollow camera mast; operation The system is a lightweight three-degree-of-freedom robotic arm based on joint modules. The extravehicular auxiliary robot for lunar astronauts provided by the invention has the characteristics of compact volume and structure, light weight, rich single-machine task capability, and strong multi-machine system expandability. It has the ability to walk smoothly and efficiently under the natural terrain of the lunar surface, the ability of active stereoscopic vision perception and multi-degree-of-freedom operation, and can carry out auxiliary operations on the lunar surface in the mode of remote operation or on-site human-computer interaction.

Description

technical field [0001] The invention belongs to the field of aerospace technology, and in particular relates to a lunar surface extravehicular auxiliary operation robot and a control method thereof. Background technique [0002] In manned lunar exploration activities, the use of lunar robots to follow and supplementary detection, assistance and auxiliary operations for astronauts can ensure the safety of astronauts outside the cabin, improve the efficiency of lunar surface exploration and construction tasks, and give full play to the precious extravehicular activity time. benefit. [0003] The existing lunar robots are mainly lunar rovers. The system design and control mode design of the lunar rovers are mainly aimed at unmanned lunar exploration and sampling return, lack of consideration of human-machine cooperation constraints, insufficient human-computer interaction capabilities of the system, and robot volume and quality. Huge size is not conducive to human-machine coll...

AI Technical Summary

Problems solved by technology

[0003] The existing lunar robots are mainly lunar rovers. The system design and control mode design of the lunar rovers are mainly aimed at unmanned lunar exploration and sampling return, lack of consideration of human-machine cooperation constraints, insufficient human-computer interaction capabilities of the system, and robot volume and quality. Large size is not conducive to human-machine collaboration, high cost of space transfer, and insufficient system expansion capabilities

Images