Research On 3D Environment Reconstrution And Teleoperation Technology Of Lunar Exploration Robot

In the process of human lunar exploration activities,due to the complex and unknown lunar surface environment,lunar surface robots,as good task execution tools in lunar surface operations,are needed in all stages of lunar surface activities.At present,the lunar surface robot’s operation activities on the lunar surface mainly rely on the remote operation control of the operators on the ground or in the cabin.In order to ensure the safety and reliability of operations,it is critical to construct teleoperation simulation scenarios consistent with real conditions.This thesis studies the terrain passability evaluation and path planning of the lunar rover during the mobile operation in the specific lunar surface teleoperation scenarios based on the reconstructed three-dimensional terrain of the lunar surface,and studies the force-guided maintenance work of virtual fixture during the in-situ operation in the simulation scene.First of all,the original terrain data is preprocessed based on the combined filtering method according to the characteristics of surface topography.The terrain reference surface is fitted based on the improved random sampling consistency algorithm and the terrain data with the datum surface removed is clustered,thus the classification and extraction of the terrain features is completed.The contour extraction on the base surface and terrain feature data is performed,and the three-dimensional reconstructed terrain of the lunar surface with obstacle-enhanced is output.Secondly,taking the laboratory lunar rover prototype as the research object,the kinematics analysis is carried out to determine the kinematics model of the lunar rover in the simulation scene.The terrain passability evaluation and the barrier passage cost function of the lunar rover are given based on the terrain features of the lunar surface,and the safe passage raster map is generated based on the three-dimensional reconstruction of the terrain of the lunar surface.Then,the mobile path search of the lunar rover on the raster map is completed based on the improved ant colony algorithm.Thirdly,based on the three-dimensional reconstruction of the lunar surface and the robot kinematics model,the lunar teleoperation simulation environment is constructed in Unity 3D.The enhanced information of scenes during the maintenance and repair operations of the lunar rover-manipulator are classified and sorted out.Taking the laboratory sixdegree-of-freedom robotic arm as the research object,a virtual fixture model for the refined maintenance of the robotic arm is constructed,and the force feedback operation is realized based on the virtual fixture and the impedance control principle.Finally,a lunar robot teleoperation platform is built based on the established simulation environment and the above technical foundation,the design of the supporting hardware console is completed,and the ground validity of the built platform is verified based on specific task requirements.