CN115303515A - Space double-arm on-orbit operation-oriented astronaut in-cabin operation and display control system - Google Patents
Space double-arm on-orbit operation-oriented astronaut in-cabin operation and display control system Download PDFInfo
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Abstract
The invention relates to a space double-arm in-orbit operation-oriented spaceman in-cabin operation and display control system, belonging to the technical field of space double-arm in-orbit operation; the system comprises a multi-mode operation control module, a dynamic information management module and a real-time simulation and display module; the mode operation control module comprises a working mode selection module, a ground operation management module, an autonomous task management module and a human-computer interaction operation module; the dynamic information management module comprises a mechanical arm dynamic bus information management module and a mechanical arm information processing module; the real-time simulation and display module comprises a mechanical arm simulation training module and a mechanical arm motion parameter and image display module; the man-machine interaction operation module comprises a panel operation module, a rotating handle operation module and a translation handle operation module; according to the invention, management of space double-mechanical-arm multi-point access is realized through dynamic information flow management, autonomous task management and multi-data-source fusion man-machine interaction design, and multi-mode operation of completing the space mechanical arm in a cabin is provided for astronauts.
Description
Technical Field
The invention belongs to the technical field of space double-arm in-orbit operation, and relates to a space double-arm in-orbit operation and display control system in a spacecraft cabin.
Background
The space manipulator bears the tasks of cabin section transposition butt joint, hovering aircraft capturing and auxiliary butt joint, support of spacecraft cabin exit activities, cargo carrying and state inspection outside the cabin, platform experiment load exposure care, optical platform care and the like on the space station. The space station is provided with two sets of mechanical arms, the core cabin is provided with a set of large mechanical arm (a large arm for short, 10 m in arm span), the experiment cabin is provided with a set of small mechanical arm (a small arm for short, 5 m in arm span), the large arm carries out large-load large-range space operation, and the small arm carries out high-precision fine operation. The two sets of mechanical arms can move at different positions of different cabin sections of the space station, flexible transfer can be completed, and the operation accessible space of the mechanical arms is enlarged.
At present, the section of a system for the on-orbit operation of a space manipulator is single, the logic is backward, dynamic information and autonomous tasks are not integrated, the man-machine interaction is poor, the operation mode is single, and the defects need to be improved urgently to meet the requirement of further complex operation.
Disclosure of Invention
The invention solves the technical problems that: the system overcomes the defects of the prior art, provides a space dual-arm in-orbit operation-oriented in-cabin operation and display control system for a spacecraft, realizes the management of space dual-mechanical-arm multi-point access through dynamic information flow management, autonomous task management and multi-data-source fusion man-machine interaction design, and provides multi-mode operation of completing space mechanical arms in the cabin for the spacecraft.
The technical scheme of the invention is as follows:
a space double-arm on-orbit operation oriented spaceman in-cabin operation and display control system comprises a multi-mode operation control module, a dynamic information management module and a real-time simulation and display module; the mode operation control module comprises a working mode selection module, a ground operation management module, an autonomous task management module and a human-computer interaction operation module; the dynamic information management module comprises a mechanical arm dynamic bus information management module and a mechanical arm information processing module; the real-time simulation and display module comprises a mechanical arm simulation training module and a mechanical arm motion parameter and image display module;
the working mode selection module: receiving mechanical arm control data transmitted from a ground operation center; selecting operation modes of the mechanical arm, wherein the operation modes comprise a ground operation mode, an autonomous operation mode, an on-orbit operation mode and an on-orbit simulation training operation mode; when the ground operation mode is selected, extracting ground operation data from the mechanical arm operation data, and sending the ground operation data to a ground operation management module; when the autonomous operation mode is selected, extracting autonomous control data from the mechanical arm control data, and sending the autonomous control data to the autonomous task management module; when the on-orbit operation mode is selected, a working instruction is sent to the man-machine interaction operation module;
a human-computer interaction operation module: receiving a working instruction transmitted by the working mode selection module, and starting up the computer; inputting a mechanical arm motion control instruction, and sending the mechanical arm motion control instruction to a mechanical arm dynamic bus information management module; receiving six-dimensional force data transmitted by the mechanical arm information processing module, and performing damping feedback setting on the operation module according to the six-dimensional force data;
a ground operation management unit: receiving ground control data transmitted by the working mode selection module, extracting specified mechanical arm information, mechanical arm working mode information, teleoperation information and mechanical arm motion operation information from the ground control data, generating a mechanical arm motion control instruction, and transmitting the mechanical arm motion control instruction to a mechanical arm dynamic bus information management module;
an autonomous task management module: receiving autonomous control data transmitted by the working mode selection module; calling a pre-stored typical autonomous task according to the autonomous control data or the on-orbit control data, generating a mechanical arm motion control instruction, and sending the mechanical arm motion control instruction to a mechanical arm dynamic bus information management module; each step of operation process of the autonomous task is transmitted to the panel operation module for the astronaut to monitor the execution process of the autonomous task in orbit;
mechanical arm dynamic bus information management module: receiving a mechanical arm motion control instruction transmitted by a man-machine interaction operation module; or receiving a mechanical arm motion control instruction transmitted by the ground operation management unit; or receiving a mechanical arm motion control instruction transmitted from the main task management module; sending the mechanical arm motion control instruction to the corresponding mechanical arm through the bus, operating the mechanical arm to complete corresponding motion, and generating real video image data of the mechanical arm; meanwhile, sending a mechanical arm motion control instruction to a mechanical arm simulation training module; receiving telemetering data and pose measurement data of the moving mechanical arm through a bus, and sending the telemetering data and the pose measurement data to a mechanical arm information processing module;
the mechanical arm information processing module: receiving telemetering data and pose measurement data transmitted by a mechanical arm dynamic bus information management module; sending the telemetering data to a ground operation center for monitoring; simultaneously, sending the telemetering data to a mechanical arm simulation training module for three-dimensional simulation of the mechanical arm; the pose measurement data are sent to a mechanical arm motion parameter and image display module; analyzing six-dimensional force data according to the telemetering data and the pose measurement data, and sending the six-dimensional force data to a man-machine interaction operation module;
the mechanical arm simulation training module: receiving the telemetering data transmitted by the mechanical arm information processing module, simulating a three-dimensional model of the mechanical arm to the position of the telemetering data, and displaying the motion state of the mechanical arm; receiving a mechanical arm motion control instruction transmitted by a mechanical arm dynamic bus information management module, driving a mechanical arm three-dimensional model to perform real-time simulation according to the mechanical arm motion control instruction, generating simulation video and image data of the mechanical arm, and transmitting the simulation video and the image data of the mechanical arm to a mechanical arm motion parameter and image display module for displaying; meanwhile, the simulation video and the image data of the mechanical arm are sent to a ground operation center;
the mechanical arm motion parameter and image display module: receiving simulation video and image data of the three-dimensional model of the mechanical arm transmitted by the mechanical arm simulation training module, and displaying simulation conditions; receiving pose measurement data transmitted by a mechanical arm information processing module; acquiring real video image data of mechanical arm movement; and displaying the motion condition of the real mechanical arm through the pose measurement data and the real video image data of the mechanical arm motion.
In the space double-arm in-orbit operation-oriented spaceman cabin operation and display control system, the mechanical arm operation data comprises ground operation data and autonomous operation data.
In the space double-arm in-orbit operation-oriented spaceman cabin operation and display control system, the mechanical arm work mode information comprises single-arm independent work, multi-arm combined work and multi-arm cooperative work; the teleoperation information comprises ground handle teleoperation and ground instruction teleoperation.
In the space double-arm in-orbit operation-oriented spaceman cabin operation and display control system, the typical autonomous tasks comprise mechanical arm pre-programmed motion, mechanical arm vision closed-loop motion, mechanical arm autonomous cabin segment transposition and mechanical arm emergency return; and the typical autonomous task is dynamically updated in real time through upper notes.
In the space-oriented dual-arm in-orbit operation and display control system for the astronaut cabin, the human-computer interaction operation module comprises a panel operation module, a rotating handle operation module and a translation handle operation module; the man-machine interaction operation module inputs a mechanical arm motion control instruction through one or more of the panel operation module, the rotating handle operation module and the translation handle operation module.
In the space double-arm in-orbit operation-oriented operating and display-control system for the astronaut cabin, the panel operating module receives an operating instruction of the astronaut on the mechanical arm, the astronaut sets mechanical arm motion parameters, mechanical arm motion operations, tail end capture and release, typical autonomous task operations, mechanical arm single machine management, translational and rotating handle parameter setting management and other mechanical arm operations in the cabin through a quick hard key and a graphical page soft key, mechanical arm control instructions are generated in orbit, all the mechanical arm control instructions are transmitted to the mechanical arm dynamic bus information management module after verification and secondary confirmation, on the other hand, operating process information is synchronously displayed in the panel operating module to provide prompt information for the astronaut, the process information is also used as mechanical arm telemetering data and transmitted to a ground operating center, and the ground operating center can mirror-image replicate the in-orbit operation action of the astronaut to monitor and evaluate.
In the space double-arm on-orbit operation-oriented spaceman cabin operation and display control system, the motion parameters of the mechanical arm comprise load, speed and acceleration gear.
In the space double-arm in-orbit operation-oriented astronaut cabin operation and display control system, the rotating handle operation module provides a direct operation mode for an astronaut, the astronaut directly operates the rotating handle to adjust the postures of pitching, yawing and rotating directions of the tail end of the mechanical arm by watching video images of the mechanical arm, adjusts the forward and reverse rotating postures of a single joint, adjusts the pitching and yawing postures of the camera holder, receives the operation of the astronaut on the handle by the rotating handle module, generates and controls the posture control data of the tail end of the mechanical arm, the single joint and the camera holder according to the set speed and the set load gear, and sends the control data to the mechanical arm dynamic bus information management module.
In the space double-arm in-orbit operation-oriented astronaut cabin operation and display control system, the translation handle operation module provides a direct operation mode for an astronaut, the astronaut directly operates the translation handle to adjust the positions of the tail end of the mechanical arm in the front-back direction, the left-right direction and the up-down direction by watching video images of the mechanical arm, the translation handle module receives the operation of the astronaut on the handle, generates control data for controlling the position of the tail end of the mechanical arm according to the set speed and load gear, and sends the control data to the mechanical arm dynamic bus information management module.
In the space-oriented dual-arm in-orbit operation and display control system for the astronaut cabin, the rotating handle operation module and the translational handle operation module both receive six-dimensional force data which is sent by the mechanical arm information processing module, and superimpose force feedback information on the handle damping force, so that smooth force feedback feeling is provided for the astronaut operation.
Compared with the prior art, the invention has the beneficial effects that:
(1) The mechanical arm operation and display control system comprises an on-orbit operation platform with human-computer interaction functions such as a force feedback handle and a liquid crystal display panel, an intelligent display with visual images and telemetering information, a simulation notebook with a mechanical arm simulation verification function, a mechanical arm bus system capable of being dynamically switched and the like, has a multi-operation mode redundancy backup function, can provide on-orbit training, and can provide human-computer interaction operations such as visual feedback, force feedback, auditory feedback and the like; (ii) a
(2) The mechanical arm operation and display control system is shared by the big arm and the small arm, provides a unified operation flow for astronauts, is simple and convenient, has an autonomous operation function of executing complex cooperative work, and reduces the operation instability brought by people in a loop;
(3) The invention provides a communication network design based on integration of heaven and earth, when a astronaut operates in orbit and trains in orbit, information such as the state of a mechanical arm and the operating state of the astronaut is downloaded to the ground in real time, and the ground can restore an in-orbit scene and a mechanical arm visual scene to effectively monitor and intervene in time;
(4) The mechanical arm can crawl among cabin sections in orbit, the two mechanical arms have multiple in-orbit working modes, cooperative work and combined work have strict requirements on operation time sequence, the mechanical arm with a variable bus topological structure can be flexibly adapted through dynamic bus information management, and a spacecraft can operate and work on a large arm, a small arm and a combined arm of different cabin sections without switching feeling.
Drawings
Fig. 1 is a schematic diagram of an in-cabin operation and display control system according to the present invention.
Detailed Description
The invention is further illustrated by the following examples.
The invention provides a space double-arm in-orbit operation-oriented in-cabin operation and display control system for astronauts, which is a unified in-cabin operation and display control system designed for astronauts to operate multiple mechanical arms, can provide visual feedback and force feedback and increase the sense of presence; the operation can be carried out in various modes such as independent work, combined work, cooperative work, autonomous work and the like aiming at different objects such as a big arm, a small arm and the like; the method can also be used for on-orbit training of mechanical arm operation and designing a parameter graphical display page matched with the on-orbit training.
The operating and display control system in the astronaut cabin, as shown in fig. 1, specifically comprises a multi-mode operation control module, a dynamic information management module and a real-time simulation and display module; the mode operation control module comprises a working mode selection module, a ground operation management module, an autonomous task management module and a human-computer interaction operation module; the dynamic information management module comprises a mechanical arm dynamic bus information management module and a mechanical arm information processing module; the real-time simulation and display module comprises a mechanical arm simulation training module and a mechanical arm motion parameter and image display module.
The working mode selection module: receiving mechanical arm control data transmitted by a ground operation center; the robotic arm manipulation data includes ground manipulation data and autonomous manipulation data. Selecting an operating mode for the robotic arm, the operating mode including a ground operating mode, an autonomous operating mode, an in-orbit operating mode, and an in-orbit simulation training operating mode. When the ground operation mode is selected, extracting ground operation data from the mechanical arm operation data, and sending the ground operation data to a ground operation management module; when the autonomous operation mode is selected, extracting autonomous control data from the mechanical arm control data, and sending the autonomous control data to the autonomous task management module; and when the on-orbit operation mode is selected, sending a working instruction to the human-computer interaction operation module.
A human-computer interaction operation module: receiving a working instruction transmitted by the working mode selection module, and starting up the computer; inputting a mechanical arm motion control instruction, and sending the mechanical arm motion control instruction to a mechanical arm dynamic bus information management module; and receiving the six-dimensional force data transmitted by the mechanical arm information processing module, and performing damping feedback setting of the operation module according to the six-dimensional force data.
A ground operation management unit: and receiving ground control data transmitted by the working mode selection module, extracting specified mechanical arm information, mechanical arm working mode information, teleoperation information and mechanical arm motion operation information from the ground control data, generating a mechanical arm motion control instruction, and transmitting the mechanical arm motion control instruction to the mechanical arm dynamic bus information management module. The mechanical arm working mode information comprises single-arm independent work, multi-arm combined work and multi-arm cooperative work; the teleoperation information comprises ground handle teleoperation and ground instruction teleoperation.
An autonomous task management module: receiving autonomous control data transmitted by the working mode selection module; calling a pre-stored typical autonomous task according to the autonomous control data or the on-orbit control data to generate a mechanical arm motion control instruction, and sending the mechanical arm motion control instruction to a mechanical arm dynamic bus information management module; and each step of operation process of the autonomous task is transmitted to the panel operation module for the astronaut to monitor the execution process of the autonomous task in orbit.
Typical autonomous tasks comprise mechanical arm pre-programmed motion, mechanical arm visual closed-loop motion, mechanical arm autonomous cabin transposition and mechanical arm emergency return; and the typical autonomous task is dynamically updated in real time through upper notes.
The mechanical arm dynamic bus information management module: receiving a mechanical arm motion control instruction transmitted by a man-machine interaction operation module; or receiving a mechanical arm motion control instruction transmitted by the ground operation management unit; or receiving a mechanical arm motion control instruction transmitted from the main task management module; sending the mechanical arm motion control instruction to the corresponding mechanical arm through the bus, operating the mechanical arm to complete corresponding motion, and generating real video image data of the mechanical arm; meanwhile, sending a mechanical arm motion control instruction to a mechanical arm simulation training module; and receiving the telemetering data and the pose measurement data of the moving mechanical arm through a bus, and sending the telemetering data and the pose measurement data to the mechanical arm information processing module.
The mechanical arm information processing module: receiving telemetering data and pose measurement data transmitted by a mechanical arm dynamic bus information management module; sending the telemetering data to a ground operation center for monitoring; simultaneously, sending the telemetering data to a mechanical arm simulation training module for three-dimensional simulation of the mechanical arm; the pose measurement data are sent to a mechanical arm motion parameter and image display module; and analyzing six-dimensional force data according to the telemetering data and the pose measurement data, and sending the six-dimensional force data to the man-machine interaction operation module.
The mechanical arm simulation training module: receiving the telemetering data transmitted by the mechanical arm information processing module, simulating a three-dimensional model of the mechanical arm to the position of the telemetering data, and displaying the motion state of the mechanical arm; receiving a mechanical arm motion control instruction transmitted by a mechanical arm dynamic bus information management module, driving a mechanical arm three-dimensional model to perform real-time simulation according to the mechanical arm motion control instruction, generating simulation video and image data of the mechanical arm, and transmitting the simulation video and the image data of the mechanical arm to a mechanical arm motion parameter and image display module for displaying; and meanwhile, the simulation video and the image data of the mechanical arm are sent to a ground operation center.
The mechanical arm motion parameter and image display module: receiving simulation video and image data of the three-dimensional model of the mechanical arm transmitted by the mechanical arm simulation training module, and displaying simulation conditions; receiving pose measurement data transmitted by a mechanical arm information processing module; acquiring real video image data of mechanical arm movement; and displaying the motion condition of the real mechanical arm through the pose measurement data and the real video image data of the mechanical arm motion.
In the invention, the man-machine interaction operation module comprises a panel operation module, a rotating handle operation module and a translation handle operation module; the man-machine interaction operation module inputs a mechanical arm motion control instruction through one or more of the panel operation module, the rotating handle operation module and the translation handle operation module.
The panel operation module receives an operation instruction of an astronaut on the mechanical arm, the astronaut performs all mechanical arm operations such as mechanical arm motion parameter setting, mechanical arm motion operation, tail end capture and release, typical autonomous task operation, mechanical arm single machine management, translation and rotating handle parameter setting management and the like in the cabin through a quick hard key and a graphical page soft key, an on-orbit mechanical arm control instruction is generated, all mechanical arm control instructions are checked and secondarily confirmed and then sent to the mechanical arm dynamic bus information management module, on the other hand, operation process information is synchronously displayed in the panel operation module to provide prompt information for the astronaut, the process information is also used as mechanical arm telemetering data and sent to a ground operation center, and the ground operation center can mirror and reproduce the on-orbit operation action of the astronaut and perform monitoring and evaluation. The motion parameters of the mechanical arm comprise load, speed and acceleration gear.
The operating module of the rotating handle provides a direct operating mode for astronauts, the astronauts directly operate the rotating handle to adjust the postures of pitching, yawing and rotating directions of the tail end of the mechanical arm by watching video images of the mechanical arm, adjust the forward and reverse rotating postures of a single joint and adjust the pitching and yawing postures of the camera holder, the rotating handle module receives the operation of the astronauts on the handle, generates control data for controlling the postures of the tail end of the mechanical arm, the single joint and the camera holder according to the set speed and the set load gear and sends the control data to the dynamic bus information management module of the mechanical arm.
The horizontal moving handle operation module provides a direct operation mode for astronauts, the astronauts directly operate the horizontal moving handle to adjust the positions of the tail end of the mechanical arm in the front-back direction, the left-right direction and the up-down direction by watching video images of the mechanical arm, the horizontal moving handle module receives the operation of the astronauts on the handle, generates control data for controlling the tail end position of the mechanical arm according to the set speed and load gear and sends the control data to the mechanical arm dynamic bus information management module.
The rotating handle operation module and the translational handle operation module both receive six-dimensional force data sent by the mechanical arm information processing module, and superimpose force feedback information on the handle damping force, so that smooth force feedback feeling is provided for the operation of astronauts.
The present invention is applicable to four modes of operation: ground operation, on-orbit operation, autonomous operation and on-orbit simulation training operation; contains four types of information streams: operating a control data stream, a video and telemetering data stream, a simulation training data stream and a pose data stream;
an operation mode comprises the following steps:
the operation and display control system supports astronauts in cooperation with the heaven and earth of the ground center, four operation modes are set for this purpose, and the operation of multiple mechanical arms can be flexibly carried out by the astronaut on orbit. The four operation modes comprise ground operation, on-orbit operation, autonomous operation and on-orbit simulation training operation modes, and can be cooperatively developed.
Ground operation mode: in the operation mode, a mechanical arm control command is sent by a ground operation center, and a astronaut can cooperatively adjust and determine the in-place motion condition of the mechanical arm by monitoring real-time motion data, fault monitoring data and mechanical arm video image information of the mechanical arm. In this mode, the astronaut can press the mechanical arm motion pause key and the mechanical arm motion stop key, and can also switch the operation mode to operate the mechanical arm of the on-orbit tube. In addition, in the mode, the action input of other keys and handles of the astronaut is not responded.
On-track operating mode: under the operation mode, various man-machine interaction operations of keys, a touch screen and a handle are provided for astronauts, and the astronauts can select any mechanical arm by monitoring real-time motion data, fault monitoring data and mechanical arm video image information of the mechanical arm to operate the tail end motion, joint rotation and the like of the mechanical arm so as to perform motion operation of the mechanical arm with seven degrees of freedom. Particularly, the astronaut can slightly adjust the positions of the tail end of the mechanical arm in three directions and the postures of the tail end of the mechanical arm in three angles by operating a tail end jogging mode on the touch screen, so that the in-place accuracy of the mechanical arm is improved; the force feedback handle can be used for providing the experience of the operation of the astronaut on the spot, the mechanical arm is transferred in a large range, the position and the posture are adjusted, and the operation safety is improved. In the mode, an in-orbit operation instruction of the astronaut can be downloaded to the ground operation center in real time, the ground operation center can mirror and reproduce the in-orbit operation step of the astronaut in real time, and the ground can take over the operation of the mechanical arm at any time.
An autonomous operation mode: in the operation mode, a astronaut starts a corresponding autonomous task key on an operation panel, the system judges according to set steps and key conditions, and starts a corresponding mechanical arm to autonomously complete corresponding tasks, such as tasks of pre-programmed motion, visual closed-loop motion, automatic cabin section transposition of the mechanical arm, emergency return of the mechanical arm and the like; in the autonomous task process, information sent by the attitude and orbit control subsystem is received in real time, and a spacecraft air injection prohibition or permission instruction is sent out to ensure that the position and the attitude of the spacecraft are kept in a normal state in the mechanical arm movement process. After the task is started, the astronaut can monitor real-time motion data, fault monitoring data and video image information of the mechanical arm, the monitoring task is completed, and intervention can be performed if necessary. The mode reduces the human uncertainty brought by the astronaut in the operation loop, and is suitable for the operation of the known fixed task. In the mode, the mechanical arm telemetering and video images can be downloaded to a ground operation center in real time, the ground operation center can monitor the deviation between the movement of the mechanical arm and the preset movement, and the ground can take over the operation of the mechanical arm at any time.
On-orbit simulation training operation mode: in the operation mode, a mechanical arm control instruction is sent to a mechanical arm simulation training computer, the simulation computer selectively drives a corresponding mechanical arm three-dimensional simulation model to move according to the instruction, a virtual scene is generated to realize virtual operation and training of an astronaut, and meanwhile, a display displays relevant telemetering data, fault monitoring data and video images of the simulation mechanical arm in real time for the astronaut to judge the operation state of the simulation operation. The mechanical arm simulation computer sends a simulation six-dimensional force data packet to the operating handle, handle force feedback under virtual training is simulated, and operation telepresence experience of astronauts is provided. In the mode, the operation data of the simulation training of the astronaut and the simulation data of the mechanical arm are downloaded to a ground operation center, and the ground knows the operation training condition of the astronaut in real time; meanwhile, the remote measurement and image data of the real mechanical arm are still transmitted to a ground operation center so as to monitor the on-orbit state of the mechanical arm in real time. The ground can be switched to the operation mode at any time to take over the operation of the mechanical arm. After the ground connection is finished and the operation mode of the on-orbit simulation training is switched back, the astronaut can continue to train last time and can also start to train again.
Information flow: four types of information flow: operation control data flow, video and telemetering data flow, simulation training data flow and pose data flow.
Operation control data flow: the operation control flow can be generated by an on-orbit slave panel, a key and a handle through a man-machine interaction operation interface of the astronaut; the ground operation center can also send control data, and the control data is forwarded to the multi-mode operation control module by the data management system through the measurement and control channel; the multi-mode operation control module analyzes a mechanical arm motion control instruction and sends the mechanical arm motion control instruction to the dynamic information management module for processing, the dynamic information management module automatically identifies the operated mechanical arm and a current bus where the mechanical arm is located, automatically identifies the fixed tail end and the free tail end of the mechanical arm, directionally sends the operation control instruction to a specified mechanical arm on the corresponding bus, and enables the corresponding mechanical arm to receive the instruction and respond to the operation control instruction to generate real actions according to the mode setting of corresponding mechanical arm combination, cooperation or independent work. Meanwhile, all data of the on-orbit operation of the astronaut are sent to the ground operation center through the telemetry channel in real time, so that the ground operation center can check the process of the on-orbit operation of the astronaut on the mechanical arm in real time.
Video and telemetry data streams: on one hand, a camera on the mechanical arm transmits a video stream to a real-time simulation and display module through the Ethernet, so that a visual operation display image is provided for astronauts, the video stream is simultaneously transmitted to the ground through a measurement and control network, and a ground operation center synchronously displays the image; on one hand, the dynamic information management module conducts polling judgment on a bus communication interrupt signal of the mechanical arm to judge the online state of a large arm and a small arm on the dynamic bus, the source of the mechanical arm telemetering data is determined and obtained at regular time, then the mechanical arm telemetering data is sent to the multimode operation control module all the way, the mechanical arm telemetering data is sent to the data management system through the module, the data management system is sent to a ground operation center through a measurement and control network to be displayed, one way is sent to the mechanical arm simulation training module to drive the digital mechanical arm to conduct simulation display, and one way is processed to extract the motion pose data of the key mechanical arm and send the motion pose data of the mechanical arm to the image display module to conduct real-time display, so that a real-time monitoring page is provided for astronauts.
Simulating a training data stream: the data stream is generated in a track simulation training mode of operation. In an on-orbit simulation training operation mode, an astronaut generates a mechanical arm simulation training operation instruction through operation actions of keys, a touch screen and a handle, the instruction is not sent to a real mechanical arm, but is sent to a measurement and control network through an Ethernet interface, and is forwarded to a mechanical arm simulation training module, and the mechanical arm simulation training module drives a three-dimensional simulation model of the mechanical arm to move according to the instruction, and generates a virtual scene to realize virtual operation of the astronaut. The mechanical arm simulation training module is matched with a motion scene of the mechanical arm to simultaneously generate a mechanical arm simulation video image and mechanical arm simulation training data, and on one hand, the mechanical arm simulation training data are sent to the mechanical arm motion parameter and image display module through the Ethernet so as to be used for monitoring the state of an astronaut during on-orbit operation training; on one hand, the mechanical arm simulation training data and the mechanical arm simulation video image data are transmitted to the ground operation center through the measurement and control network, and the on-orbit training effect of the astronaut can be evaluated.
Pose data flow: in the autonomous operation mode, pose data of the mechanical arm camera is resolved through the dynamic information management module, when the robot enters the vision closed loop mode, the mechanical arm information processing module sends the resolved real-time pose measurement data to the corresponding mechanical arm, the mechanical arm is controlled to further perform vision servo motion, the mechanical arm exits the vision servo control mode until the motion reaches a preset distance, the dynamic information management module does not resolve the pose data of the mechanical arm camera any more, and the pose data is transmitted to the ground control center through the measurement and control network only as telemetering data.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (10)
1. The utility model provides a space both arms are operation and show control system in flight crew cabin towards operation in orbit which characterized in that: the system comprises a multi-mode operation control module, a dynamic information management module and a real-time simulation and display module; the mode operation control module comprises a working mode selection module, a ground operation management module, an autonomous task management module and a human-computer interaction operation module; the dynamic information management module comprises a mechanical arm dynamic bus information management module and a mechanical arm information processing module; the real-time simulation and display module comprises a mechanical arm simulation training module and a mechanical arm motion parameter and image display module;
the working mode selection module: receiving mechanical arm control data transmitted from a ground operation center; selecting operation modes of the mechanical arm, wherein the operation modes comprise a ground operation mode, an autonomous operation mode, an on-orbit operation mode and an on-orbit simulation training operation mode; when the ground operation mode is selected, extracting ground operation data from the mechanical arm operation data, and sending the ground operation data to a ground operation management module; when the autonomous operation mode is selected, extracting autonomous control data from the mechanical arm control data, and sending the autonomous control data to the autonomous task management module; when the on-orbit operation mode is selected, a working instruction is sent to the man-machine interaction operation module;
a human-computer interaction operation module: receiving a working instruction transmitted by the working mode selection module, and starting up the computer; inputting a mechanical arm motion control instruction, and sending the mechanical arm motion control instruction to a mechanical arm dynamic bus information management module; receiving six-dimensional force data transmitted by the mechanical arm information processing module, and performing damping feedback setting on the operation module according to the six-dimensional force data;
a ground operation management unit: receiving ground control data transmitted by the working mode selection module, extracting specified mechanical arm information, mechanical arm working mode information, teleoperation information and mechanical arm motion operation information from the ground control data, generating a mechanical arm motion control instruction, and transmitting the mechanical arm motion control instruction to the mechanical arm dynamic bus information management module;
an autonomous task management module: receiving autonomous control data transmitted by the working mode selection module; calling a pre-stored typical autonomous task according to the autonomous control data or the on-orbit control data, generating a mechanical arm motion control instruction, and sending the mechanical arm motion control instruction to a mechanical arm dynamic bus information management module; each step of operation process of the autonomous task is transmitted to the panel operation module for the astronaut to monitor the execution process of the autonomous task in orbit;
the mechanical arm dynamic bus information management module: receiving a mechanical arm motion control instruction transmitted by the man-machine interaction operation module; or receiving a mechanical arm motion control instruction transmitted by the ground operation management unit; or receiving a mechanical arm motion control instruction transmitted from the main task management module; sending the mechanical arm motion control instruction to the corresponding mechanical arm through the bus, operating the mechanical arm to complete corresponding motion, and generating real video image data of the mechanical arm; meanwhile, sending a mechanical arm motion control instruction to a mechanical arm simulation training module; the remote measuring data and the pose measuring data of the moving mechanical arm are received through a bus, and the remote measuring data and the pose measuring data are sent to a mechanical arm information processing module;
the mechanical arm information processing module: receiving telemetering data and pose measurement data transmitted by a mechanical arm dynamic bus information management module; sending the telemetering data to a ground operation center for monitoring by the ground operation center; simultaneously, sending the telemetering data to a mechanical arm simulation training module for three-dimensional simulation of the mechanical arm; the pose measurement data are sent to a mechanical arm motion parameter and image display module; analyzing six-dimensional force data according to the telemetering data and the pose measurement data, and sending the six-dimensional force data to a man-machine interaction operation module;
the mechanical arm simulation training module: receiving the telemetering data transmitted by the mechanical arm information processing module, simulating a three-dimensional model of the mechanical arm to the position of the telemetering data, and displaying the motion state of the mechanical arm; receiving a mechanical arm motion control instruction transmitted by a mechanical arm dynamic bus information management module, driving a three-dimensional model of the mechanical arm to simulate in real time according to the mechanical arm motion control instruction, generating a simulation video and image data of the mechanical arm, and transmitting the simulation video and the image data of the mechanical arm to a mechanical arm motion parameter and image display module for displaying; meanwhile, sending the simulation video and the image data of the mechanical arm to a ground operation center;
the mechanical arm motion parameter and image display module: receiving simulation video and image data of the three-dimensional model of the mechanical arm transmitted by the mechanical arm simulation training module, and displaying the simulation condition; receiving pose measurement data transmitted by a mechanical arm information processing module; acquiring real video image data of mechanical arm movement; and displaying the motion condition of the real mechanical arm through the pose measurement data and the real video image data of the mechanical arm motion.
2. The space-oriented dual-arm in-orbit operation and display and control system for the spacecraft cabin of claim 1 is characterized in that: the mechanical arm control data comprises ground control data and autonomous control data.
3. The space-oriented dual-arm in-orbit operation and display and control system for the spacecraft cabin of claim 1 is characterized in that: the working mode information of the mechanical arm comprises single-arm independent work, multi-arm combined work and multi-arm cooperative work; the teleoperation information comprises ground handle teleoperation and ground instruction teleoperation.
4. The space-oriented dual-arm in-orbit operation and display and control system for the spacecraft cabin of claim 1 is characterized in that: the typical autonomous tasks comprise mechanical arm pre-programming motion, mechanical arm visual closed-loop motion, mechanical arm autonomous cabin transposition and mechanical arm emergency return; and the typical autonomous task is dynamically updated in real time through the upper note.
5. The space-oriented dual-arm in-orbit operation and display and control system for the spacecraft cabin of claim 1 is characterized in that: the man-machine interaction operation module comprises a panel operation module, a rotating handle operation module and a translation handle operation module; the man-machine interaction operation module inputs a mechanical arm motion control instruction through one or more of the panel operation module, the rotating handle operation module and the translation handle operation module.
6. The space-oriented dual-arm in-orbit operation and display and control system for the spacecraft of claim 5, wherein: the panel operation module receives an operation instruction of an astronaut on the mechanical arm, the astronaut performs all mechanical arm operations such as mechanical arm motion parameter setting, mechanical arm motion operation, tail end capture and release, typical autonomous task operation, mechanical arm single machine management, translation and rotating handle parameter setting management and the like in the cabin through a quick hard key and a graphical page soft key, an on-orbit mechanical arm control instruction is generated, all mechanical arm control instructions are checked and secondarily confirmed and then sent to the mechanical arm dynamic bus information management module, on the other hand, operation process information is synchronously displayed in the panel operation module to provide prompt information for the astronaut, the process information is also used as mechanical arm telemetering data and sent to a ground operation center, and the ground operation center can mirror and reproduce the on-orbit operation action of the astronaut and perform monitoring and evaluation.
7. The space-oriented dual-arm in-orbit operation and display and control system for the spacecraft of claim 6, wherein: the mechanical arm motion parameters comprise load, speed and acceleration gears.
8. The space-oriented dual-arm in-orbit operation and display and control system for the spacecraft of claim 5, wherein: the operating module of the rotating handle provides a direct operating mode for astronauts, the astronauts directly operate the rotating handle to adjust the postures of pitching, yawing and rotating directions of the tail end of the mechanical arm by watching video images of the mechanical arm, adjust the forward and reverse rotating postures of a single joint and adjust the pitching and yawing postures of the camera holder, the rotating handle module receives the operation of the astronauts on the handle, generates control data for controlling the postures of the tail end of the mechanical arm, the single joint and the camera holder according to the set speed and load gears and sends the control data to the dynamic bus information management module of the mechanical arm.
9. The space-oriented dual-arm in-orbit operation and display and control system for the spacecraft of claim 8, wherein: the translation handle operation module provides a direct operation mode for an astronaut, the astronaut directly operates the translation handle to adjust the positions of the tail end of the mechanical arm in the front-back direction, the left-right direction and the up-down direction by watching a video image of the mechanical arm, the translation handle module receives the operation of the astronaut on the handle, generates control data for controlling the tail end position of the mechanical arm according to the set speed and load gear and sends the control data to the mechanical arm dynamic bus information management module.
10. The space-oriented dual-arm in-orbit operation and display and control system for the spacecraft of claim 9, wherein: the rotating handle operation module and the translational handle operation module both receive six-dimensional force data sent by the mechanical arm information processing module, and superimpose force feedback information on the handle damping force, so that smooth force feedback feeling is provided for operation of astronauts.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116476100A (en) * | 2023-06-19 | 2023-07-25 | 兰州空间技术物理研究所 | Remote operation system of multi-branch space robot |
| CN117687418A (en) * | 2024-02-04 | 2024-03-12 | 兰州空间技术物理研究所 | Mobile control method and device based on man-machine interaction, storage medium and terminal |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116476100A (en) * | 2023-06-19 | 2023-07-25 | 兰州空间技术物理研究所 | Remote operation system of multi-branch space robot |
| CN117687418A (en) * | 2024-02-04 | 2024-03-12 | 兰州空间技术物理研究所 | Mobile control method and device based on man-machine interaction, storage medium and terminal |
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