Lunar surface foot robot mobile visual simulation system

Abstract

The application relates to the field of lunar surface foot type robots, in particular to a mobile vision simulation system of a lunar surface foot type robot. The system comprises a mixed reality simulation verification module, a real-time dynamics simulation module, a random task scene digital generation module and an external system joint simulation module; the random task scene digital generation module is used for randomly generating a lunar surface topography and performing light setting; the real-time dynamics simulation module is used for acquiring foot type robot auxiliary equipment data, combining a simulation scene to generate a simulation image, and performing foot end dynamics simulation simulation of the foot type robot in the simulation scene; the mixed reality simulation verification module is used for performing motion simulation demonstration of the foot type robot in the simulation scene based on motion simulation data of the foot type robot; and the external system joint simulation module is used for generating foot type robot walking control instructions and simultaneously realizing iterative closed loop simulation. The scheme can improve the large range detection task simulation verification capability of the lunar surface foot type robot.

Description

Technical Field

[0001] This invention relates to the field of lunar legged robot technology, and in particular to a mobile visual simulation system for a lunar legged robot. Background Technology

[0002] The lunar rover will be the first to demonstrate a legged robot's ability to walk and explore targets in the lunar south polar region, featuring a completely new exploration platform and mission scenario. The existing lunar surface simulation system is designed to meet the mission requirements of wheeled rover missions, using wheel-soil contact dynamics simulation to enable mobile exploration by the wheeled rover.

[0003] Legged robots differ significantly from wheeled probe platforms, exhibiting complex structures, numerous joints, and challenging motion and dynamics simulations. Existing lunar surface simulation systems can only meet the needs of wheeled probe missions, failing to satisfy the requirements of legged robot locomotion. Furthermore, no lunar surface simulation system integrating lunar polar environment simulation, legged robot dynamics, image generation, and 3D visualization has been implemented, either domestically or internationally.

[0004] Therefore, there is an urgent need for a mobile visual simulation system for lunar legged robots. Summary of the Invention

[0005] This invention provides a lunar surface scene simulation system for a legged robot, which can solve the problem of lunar surface scene simulation for legged robot walking tasks. The technical solution is as follows: In a first aspect, embodiments of the present invention provide a mobile visual simulation system for a lunar legged robot, comprising: a mixed reality simulation verification module, a real-time dynamics simulation module, a random task scene digital generation module, and an external system co-simulation module; The random task scene digitization generation module is used to randomly generate lunar surface topography and set lighting to send the simulation scene to the mixed reality simulation verification module and the real-time dynamics simulation module. The real-time dynamics simulation module is used to acquire data from the legged robot's auxiliary equipment, generate simulated images in combination with the simulation scene, perform foot dynamics simulation on the legged robot in the simulation scene, and send the simulated images and motion simulation data to the mixed reality simulation verification module. The mixed reality simulation verification module is used to demonstrate the motion simulation of the legged robot in a simulation scene based on the motion simulation data of the legged robot. The external system co-simulation module is used to enable the real-time dynamics simulation module, the random task scenario digital generation module, the mixed reality simulation verification module, and the external simulation platform to interact and communicate. This allows the external simulation platform to receive the simulated images and motion simulation data, generate walking control commands for the legged robot, and simultaneously acquire the motion simulation data from the real-time dynamics simulation module in real time, providing input parameters for the generation of walking control commands and achieving iterative closed-loop simulation.

[0006] Secondly, embodiments of the present invention provide a method for simulating the movement of a lunar legged robot based on the system described in any embodiment of the specification, comprising: The lunar surface topography and landforms are randomly generated using the random task scene digitization generation module, and the lighting is set so that the simulation scene can be sent to the mixed reality simulation verification module and the real-time dynamics simulation module. The real-time dynamics simulation module is used to acquire data of the legged robot auxiliary equipment, and combined with the simulation scene to generate a simulated image to simulate the foot dynamics of the legged robot in the simulation scene. The simulated image and motion simulation data are then sent to the mixed reality simulation verification module. Using a mixed reality simulation verification module, a motion simulation demonstration of a legged robot in a simulated scenario is performed based on motion simulation data of the legged robot. An external system co-simulation module is used to enable the real-time dynamics simulation module, the random task scenario digital generation module, the mixed reality simulation verification module, and the external simulation platform to interact and communicate. This allows the external simulation platform to receive the simulated images and motion simulation data, generate walking control commands for the legged robot, and simultaneously acquire the motion simulation data from the real-time dynamics simulation module in real time, providing input parameters for the generation of walking control commands and achieving iterative closed-loop simulation.

[0007] This invention provides a mobile visual simulation system for a lunar legged robot, mainly comprising a mixed reality simulation verification module, a real-time dynamics simulation module, a random task scene digitization generation module, and an external system co-simulation module. The real-time dynamics simulation module performs foot-end contact dynamics simulation, enabling reliable movement of the legged robot in the complex terrain environment of the lunar south pole. The random task scene digitization generation module solves the problem of high-precision terrain and lighting simulation. The external system co-simulation module enables real-time data interaction; the real-time dynamics simulation module can provide real-time feedback of specified state parameters, providing input parameters for the generation of control commands, thus achieving closed-loop simulation. This solution achieves high-fidelity simulation and digital reproduction of lunar polar scenes through customized lunar scene configuration. Based on the legged robot's motion and dynamics simulation, and according to the motion commands from the external simulation platform, the system utilizes lunar scene augmented reality to display the legged robot's motion state and performance, improving the simulation verification capability of large-scale lunar exploration missions for the lunar legged robot. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a schematic diagram of a mobile visual simulation system for a lunar legged robot according to an embodiment of the present invention; Figure 2 This is a flowchart of a mobile visual simulation method for a lunar legged robot according to an embodiment of the present invention. Detailed Implementation

[0010] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0011] Please refer to Figure 1 This invention provides a mobile visual simulation system for a lunar legged robot, comprising: a mixed reality simulation verification module, a real-time dynamics simulation module, a random task scene digital generation module, and an external system co-simulation module; The random task scene digitization generation module is used to randomly generate lunar surface topography and set lighting to send the simulation scene to the mixed reality simulation verification module and the real-time dynamics simulation module. The real-time dynamics simulation module is used to acquire data from the legged robot's auxiliary equipment, generate simulated images in combination with the simulation scene, perform foot dynamics simulation on the legged robot in the simulation scene, and send the simulated images and motion simulation data to the mixed reality simulation verification module. The mixed reality simulation verification module is used to demonstrate the motion simulation of a legged robot in a simulation scenario based on the motion simulation data of the legged robot. The external system co-simulation module is used to enable the real-time dynamics simulation module, the random task scenario digital generation module, the mixed reality simulation verification module, and the external simulation platform to interact and communicate. This allows the external simulation platform to receive simulated images and motion simulation data, generate walking control commands for the legged robot, and simultaneously acquire motion simulation data from the real-time dynamics simulation module in real time, providing input parameters for the generation of walking control commands and realizing iterative closed-loop simulation.

[0012] In this embodiment, the random task scene digitization generation module can randomly generate global or local terrain features, set surface reflection characteristics, and typical surface features such as rocks, dunes, craters, and gravel. It can also define a lighting model, including lighting direction, beam diameter, and lighting intensity. The real-time dynamics simulation module has a real-time legged dynamics computing environment, capable of simulating the movement of a legged robot in the lunar environment, including dynamics simulation under different gravitational constants, collision detection and collision dynamics simulation, and foot contact dynamics simulation. Legged robot auxiliary equipment can include various sensors and lidar, used to generate simulated images in conjunction with the simulation scene. The mixed reality simulation verification module, based on the simulation scene and model settings, demonstrates the legged robot's movement in the scene in real time through a 3D display window; it also serves to build an integrated development environment for the random task scene digitization generation module and the real-time dynamics simulation module, possessing functions such as resource management, simulation monitoring, 3D display, and human-computer interaction. It allows arbitrary adjustment of the legged robot's viewpoint and scaling ratio and supports simulation verification of multiple types of robots in the same scene. The external system co-simulation module receives the simulated images and motion simulation data output by the real-time dynamics simulation module, including the acceleration, angular velocity, and foot position of the legged robot body. It generates corresponding control program instructions for the legged robot through the control scheme, directly controlling the legged robot in the simulation system. Meanwhile, the real-time dynamics simulation module can provide feedback on important simulation data in real time, providing input parameters for the generation of walking instructions, and finally completing the iterative closed-loop simulation.

[0013] This embodiment mainly includes a mixed reality simulation verification module, a real-time dynamics simulation module, a random task scenario digitization generation module, and an external system co-simulation module. A real-time dynamics simulation module was designed to perform foot-end contact dynamics simulation, enabling reliable movement of the legged robot in the complex terrain environment of the lunar south pole. A random task scenario digitization generation module was designed to solve the problem of high-precision terrain and lighting environment simulation. An external system co-simulation module was designed for real-time data interaction. The real-time dynamics simulation module can provide real-time feedback of specified state parameters, providing input parameters for the generation of control commands and achieving closed-loop simulation. This solution achieves high-fidelity simulation and digital reproduction of lunar polar region scenes through customized lunar scene configuration. Based on the legged robot's motion and dynamics simulation, and according to the motion commands from the external simulation platform, the lunar scene augmented reality display shows the legged robot's motion state and performance, improving the simulation verification capability of large-scale lunar exploration missions by the legged robot.

[0014] In some implementations, it also includes: a real star surface terrain data visualization module; The Real Planetary Surface Terrain Data Visualization Module is used to replace local areas of the simulation scene with real lunar terrain data when real lunar terrain data is acquired, so as to achieve smooth stitching of virtual terrain and real terrain, and return the stitched simulation scene to the Mixed Reality Simulation Verification Module and the Real-Time Dynamics Simulation Module.

[0015] Therefore, this embodiment can achieve high-fidelity simulation and digital reproduction of lunar polar scene by customizing lunar scene configuration or importing and stitching real terrain data.

[0016] In some implementations, it also includes: a multi-source enhanced information display module; The multi-source augmented information display module is used to overlay terrain feature data and legged robot motion parameter data onto the motion simulation animation in the mixed reality simulation verification module based on user commands.

[0017] In this embodiment, terrain feature data and legged robot motion parameter data in the lunar polar region scene can be selectively overlaid and displayed, including the real-time speed, position, and direction of the legged robot body and each joint, the position and posture of the robot body, and the geometric information of ground features, etc., and overlaid on the motion simulation animation in the mixed reality simulation verification module.

[0018] In some implementations, the real-time dynamics simulation module includes at least: a foot dynamics simulation module and a graphics engine; The foot dynamics simulation module is used to simulate lunar surface movement of legged robots under different gravitational constants. The graphics engine is used to integrate a high dynamic range graphics engine, supporting scene management, 3D rendering, and the generation of simulated images by combining simulation scenes.

[0019] In this embodiment, the foot dynamics simulation module has a real-time foot dynamics computing environment, capable of simulating the movement of a footed robot in the lunar environment, including dynamics simulation under different gravitational constants, collision detection and collision dynamics simulation, and foot contact dynamics simulation. The graphics engine integrates a high dynamic range graphics engine, supporting scene management, 3D rendering, and simulated imaging functions. It is used to generate simulated images based on auxiliary equipment data and the simulated scene, ensuring visual fidelity and simulation real-time performance requirements.

[0020] In some implementations, the lunar surface movement model in the foot dynamics simulation module is as follows: in, This represents the supporting force at the i-th foot. The value represents the contact friction at the foot end under different lunar surface topography, m represents the mass of the legged robot, g represents the lunar gravitational acceleration under different gravitational constants, and a represents the acceleration of the legged robot.

[0021] In this embodiment, The friction force at the foot contact point varies depending on the lunar surface topography. When the lunar surface topography in the simulation scenario is different, the friction force at the foot contact point will also be different; g represents the lunar surface gravitational acceleration under different gravitational constants, which is used to simulate lunar gravity.

[0022] In some implementations, the external system co-simulation module includes at least: a trajectory generator; The trajectory generator is used to generate foot reference positions for the walking trajectory of a legged robot based on simulated images using a trajectory generation model.

[0023] In this embodiment, the trajectory generator can use the trajectory generation model to generate the foot reference position of the legged robot's walking trajectory based on the simulated image, so that the external simulation platform can combine the simulated image and motion simulation data to generate corresponding legged robot control program instructions through the control scheme, and directly control the legged robot in the simulation system.

[0024] In some implementations, the trajectory generation model is as follows: Where x, y, z represent the reference positions of the foot in the three directions of the body coordinate system, S0 represents the stride length, Tsw represents the movement period, t represents the movement time, and H represents the leg lift height.

[0025] In this embodiment, for each motion cycle, trajectory planning is performed on a simulated lunar image based on the trajectory generation model, and the x and z values ​​planned for each motion cycle are sent to an external simulation platform for positioning and navigation guidance and control during the walking process.

[0026] This system can achieve high-fidelity simulation and digital reproduction of lunar polar scenes by customizing lunar scene configurations or importing real terrain data. Based on the motion and dynamics simulation of the legged robot, and according to the motion commands from the external simulation platform, it uses augmented reality of the lunar scene to display the legged robot's motion state and performance, improving the simulation and verification capabilities of large-scale lunar exploration missions by the legged robot. This system is a key system for ground simulation verification of the Chang'e-7 spacecraft's polar flyby and walking GNC scheme, and can be extended to mathematical simulation verification for future lunar research station and Mars rover exploration missions.

[0027] like Figure 2 As shown, this embodiment also provides a method for simulating the movement of a lunar legged robot based on any system in this specification. The method includes: 200. The lunar surface topography and landforms are randomly generated using the random task scene digitization generation module, and the lighting is set so that the simulation scene can be sent to the mixed reality simulation verification module and the real-time dynamics simulation module. 202. The real-time dynamics simulation module is used to obtain data of the legged robot auxiliary equipment, and the simulation image is generated in combination with the simulation scene to simulate the foot dynamics of the legged robot in the simulation scene. The simulation image and motion simulation data are then sent to the mixed reality simulation verification module. 204. Using the mixed reality simulation verification module, a motion simulation demonstration of a legged robot in a simulation scene is carried out based on the motion simulation data of the legged robot. 206. The external system co-simulation module is used to realize the interaction and communication between the real-time dynamics simulation module, the random task scenario digital generation module, the mixed reality simulation verification module and the external simulation platform. This enables the external simulation platform to receive simulated images and motion simulation data, generate walking control commands for the legged robot, and simultaneously acquire motion simulation data from the real-time dynamics simulation module in real time, providing input parameters for the generation of walking control commands, and realizing iterative closed-loop simulation.

[0028] It should be noted that the above method embodiments and system embodiments belong to the same concept, and the specific implementation process can be found in the system embodiments, which will not be repeated here.

[0029] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0030] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mobile visual simulation system for a lunar legged robot, characterized in that, include: The system includes a mixed reality simulation verification module, a real-time dynamics simulation module, a random task scenario digital generation module, and an external system co-simulation module. The random task scene digitization generation module is used to randomly generate lunar surface topography and set lighting to send the simulation scene to the mixed reality simulation verification module and the real-time dynamics simulation module. The real-time dynamics simulation module is used to acquire data from the legged robot's auxiliary equipment, generate simulated images in combination with the simulation scene, perform foot dynamics simulation on the legged robot in the simulation scene, and send the simulated images and motion simulation data to the mixed reality simulation verification module. The mixed reality simulation verification module is used to demonstrate the motion simulation of the legged robot in a simulation scene based on the motion simulation data of the legged robot. The external system co-simulation module is used to enable the real-time dynamics simulation module, the random task scenario digital generation module, the mixed reality simulation verification module, and the external simulation platform to interact and communicate. This allows the external simulation platform to receive the simulated images and motion simulation data, generate walking control commands for the legged robot, and simultaneously acquire the motion simulation data from the real-time dynamics simulation module in real time, providing input parameters for the generation of walking control commands and achieving iterative closed-loop simulation.

2. The system according to claim 1, characterized in that, Also includes: Real star catalog terrain data visualization module; The real lunar surface terrain data visualization module is used to replace local areas of the simulation scene with the real lunar surface terrain data when the real lunar surface terrain data is acquired, so as to achieve smooth stitching of virtual terrain and real terrain, and return the stitched simulation scene to the mixed reality simulation verification module and the real-time dynamics simulation module.

3. The system according to claim 1, characterized in that, Also includes: Multi-source enhanced information display module; The multi-source enhanced information display module is used to overlay terrain feature data and legged robot motion parameter data onto the motion simulation animation in the mixed reality simulation verification module based on user commands.

4. The system according to claim 1, characterized in that, The real-time dynamics simulation module includes at least: a foot dynamics simulation module and a graphics engine; The foot dynamics simulation module is used to simulate lunar surface movement of a legged robot under different gravitational constants. The graphics engine is used to integrate a high dynamic range graphics engine, supporting scene management, 3D rendering, and the generation of simulated images by combining simulation scenes.

5. The system according to claim 4, characterized in that, The lunar surface movement model in the foot-end dynamics simulation module is as follows: in, This represents the supporting force at the i-th foot. The value represents the contact friction at the foot end under different lunar surface topography, m represents the mass of the legged robot, g represents the lunar gravitational acceleration under different gravitational constants, and a represents the acceleration of the legged robot.

6. The system according to claim 1, characterized in that, The external system co-simulation module should include at least: a trajectory generator; The trajectory generator is used to generate a foot reference position for the walking trajectory of a legged robot based on the simulated image using a trajectory generation model.

7. The system according to claim 6, characterized in that, The trajectory generation model is as follows: Where x, y, z represent the reference positions of the foot in the three directions of the body coordinate system, S0 represents the stride length, Tsw represents the movement period, t represents the movement time, and H represents the leg lift height.

8. A method for simulating the movement of a lunar legged robot based on the system described in claims 1-8, characterized in that, include: The lunar surface topography and landforms are randomly generated using the random task scene digitization generation module, and the lighting is set so that the simulation scene can be sent to the mixed reality simulation verification module and the real-time dynamics simulation module. The real-time dynamics simulation module is used to acquire data of the legged robot auxiliary equipment, and combined with the simulation scene to generate a simulated image to simulate the foot dynamics of the legged robot in the simulation scene. The simulated image and motion simulation data are then sent to the mixed reality simulation verification module. Using a mixed reality simulation verification module, a motion simulation demonstration of a legged robot in a simulated scenario is performed based on motion simulation data of the legged robot. An external system co-simulation module is used to enable the real-time dynamics simulation module, the random task scenario digital generation module, the mixed reality simulation verification module, and the external simulation platform to interact and communicate. This allows the external simulation platform to receive the simulated images and motion simulation data, generate walking control commands for the legged robot, and simultaneously acquire the motion simulation data from the real-time dynamics simulation module in real time, providing input parameters for the generation of walking control commands and achieving iterative closed-loop simulation.

9. The method according to claim 8, characterized in that, include: The real lunar surface terrain data visualization module is used to obtain real lunar surface terrain data. The real lunar surface terrain data is then used to replace local areas of the simulation scene to achieve a smooth stitching of virtual and real terrain. The stitched simulation scene is then returned to the mixed reality simulation verification module and the real-time dynamics simulation module.

10. The method according to claim 8, characterized in that, include: Using a multi-source augmented information display module, based on user commands, terrain feature data and legged robot motion parameter data are overlaid and displayed on the motion simulation animation in the mixed reality simulation verification module.

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