暗弱低重力环境下机器人智能控制与智慧作业管理

doi:10.3981/j.issn.2097-0781.2024.01.005

前瞻科技 ›› 2024, Vol. 3 ›› Issue (1): 62-73.DOI: 10.3981/j.issn.2097-0781.2024.01.005

暗弱低重力环境下机器人智能控制与智慧作业管理

刘传凯¹^,²^,³(), 谢剑锋¹^,²^,^†(), 王科⁴, 张楚¹, 王艺³, 周鹏⁴, 王晓雪¹^,²

1.北京航天飞行控制中心，北京 100094
2.航天飞行动力学技术重点实验室，北京 100094
3.江西理工大学电气工程与自动化学院，赣州 341000
4.重庆大学机械与运载工程学院，重庆 400044

收稿日期:2023-12-01 修回日期:2024-01-27 出版日期:2024-03-20 发布日期:2024-03-27
通讯作者: †
作者简介:刘传凯，博士，高级工程师。软件支持团队副总工程师，空间遥操作创新团队负责人。主要从事空间机器人遥操作技术研究。主持国家自然科学基金等项目6项，部委级科研预研项目6项。获部委级科技进步奖二等奖2项、陕西省高校科技优秀成果奖一等奖1项。出版专著2部，发表论文67余篇，授权发明专利21件。某部委级高层次科技创新青年人才。获“探月工程嫦娥四号任务突出贡献者”称号、中国航天基金会“航天贡献奖”。2023年作为“新时代勇攀航天科技高峰的青年人才群体”的典型代表受到中央宣传部表彰宣传。电子信箱：ckliu2005@126.com。
谢剑锋，研究员。深空探测任务团队总工程师。主要从事近地及深空探测器精密定规、轨道设计与控制、地外天体遥操作等技术研究。先后参与我国载人航天、月球及深空探测领域的历次飞行控制任务。获部委级科学技术进步奖一等奖3项、二等奖6项。发表论文20余篇，授权发明专利10余件。获“中国载人航天工程突出贡献者”称号。电子信箱：jianfengxie@126.com。
基金资助:
国家自然科学基金(61972020);国家自然科学基金(62003025)

Intelligent Control and Intelligent Operation Management of Robots in Dim and Low Gravity Environments

LIU Chuankai¹^,²^,³(), XIE Jianfeng¹^,²^,^†(), WANG Ke⁴, ZHANG Chu¹, WANG Yi³, ZHOU Peng⁴, WANG Xiaoxue¹^,²

1. Beijing Aerospace Control Center, Beijing 100094, China
2. Key Laboratory of Science and Technology on Aerospace Flight Dynamics, Beijing 100094, China
3. School of Electrical Engineering and Automation, Jiangxi University of Science and Technology, Ganzhou 341000, China
4. College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400044, China

Received:2023-12-01 Revised:2024-01-27 Online:2024-03-20 Published:2024-03-27
Contact: †

摘要/Abstract

摘要：

针对未来月球南极和火星峡谷等暗弱低重力环境探测需求，研究智能高效的机器人控制与协作管理方法，使机器人能够高可靠地完成星表复杂操作任务，支持月球及火星基地建设与长期驻留开发非常迫切。文章在阐述界定暗弱低重力环境的内涵和分析论述机器人作业最新进展的基础上，探讨了暗弱低重力环境对机器人带来的挑战，总结了暗弱低重力环境下机器人智能作业发展趋势，并从机器人智能化行为控制与智慧化作业管理的角度对机器人智能技术发展提出了建议。

关键词: 星表探测, 暗弱低重力环境, 机器人智能控制, 机器人作业管理

Abstract:

In view of the detection requirement in dim and low gravity environments of the south pole of the Moon and the canyons of Mars, it is urgent to explore intelligent and efficient robot control and management methods so that robots can reliably complete complex tasks of planetary exploration, support the construction of lunar and Mars bases, and ensure long-term development. On the basis of elaborating the definition of dim and low gravity environments and analyzing the latest progress of robots, the challenges brought by dim and low gravity environments to planetary exploration robots are discussed, and the development trend of intelligent robot operation in dim and low gravity environments is summarized. Some suggestions on the development of intelligent robot technology are put forward from the perspective of intelligent robot behavior control and intelligent operation management.

Key words: planetary exploration, dim and low gravity environments, intelligent control of robots, operation management of robots

刘传凯, 谢剑锋, 王科, 张楚, 王艺, 周鹏, 王晓雪. 暗弱低重力环境下机器人智能控制与智慧作业管理[J]. 前瞻科技, 2024, 3(1): 62-73.

LIU Chuankai, XIE Jianfeng, WANG Ke, ZHANG Chu, WANG Yi, ZHOU Peng, WANG Xiaoxue. Intelligent Control and Intelligent Operation Management of Robots in Dim and Low Gravity Environments[J]. Science and Technology Foresight, 2024, 3(1): 62-73.

图/表 6

表1 地面常见环境的光照度

Table 1 Common ambient illuminance values on the ground

环境条件	烈日直射的地面	晴天背阴处	日光灯	阴天的室外地面	阴天的室内	路灯	月夜	星光	黑夜
光照度/lux	100 000	10 000	5 000	50~500	5~50	5	0.02~0.300	0.000 3	0.001~0.020
是否为暗弱	否	否	否	否	是	是	是	是	是

图1 卢森堡空间资源挑战赛模拟月球南极暗弱环境

Fig. 1 Extremely dim and low gravity environments of Moon’s south pole simulated by Luxembourg space resource challenge

图2 美国航空航天局“Artemis”基地概念图

Fig. 2 Concept art of NASA’s “Artemis” base

图3 VIPER在月球南极行驶导航及穿越行驶

Fig. 3 Navigation of VIPER at the south pole of the Moon

图4 机器人行为学习框架

Fig. 4 Robot behavior learning framework

图5 多个足式机器人协作探测

Fig. 5 Cooperative detection of multiple legged robots

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暗弱低重力环境下机器人智能控制与智慧作业管理

Intelligent Control and Intelligent Operation Management of Robots in Dim and Low Gravity Environments

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