CN115565430A - System for simulating remote teleoperation of lunar vehicle - Google Patents
System for simulating remote teleoperation of lunar vehicle Download PDFInfo
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Abstract
The invention discloses a system for simulating remote teleoperation of a lunar vehicle, which comprises a teleoperation display and control interface and a lunar environment presentation simulator, wherein data sharing is realized between the teleoperation display and control interface and the lunar environment presentation simulator through a ground-moon simulation communication link; the teleoperation display control interface comprises a parameter setting module, a motion control module, a state display module, an image presentation module and a map presentation module; the lunar environment presentation simulator is used for simulating a real lunar vehicle and a lunar environment and comprises a simulated lunar vehicle model, a sensor model and a lunar terrain and landform. The system is beneficial to carrying out test verification of relevant technologies of teleoperation of the manned lunar vehicle on the ground, has high innovativeness, simple operation and strong visibility, and is convenient to provide technical support for development of a manned lunar vehicle prototype system.
Description
Technical Field
The invention relates to the technical field of unmanned vehicle teleoperation, in particular to a system for simulating remote teleoperation of a lunar vehicle.
Background
In the second period of the lunar exploration project, the ground teleoperation system transmits a motion instruction to the rabbit series lunar vehicle by depending on a teleprogramming mode so as to carry out auxiliary control and monitoring. In the remote programming mode, the lunar environment is reconstructed by using image data downloaded by the lunar vehicle, then the driving path planning and the safety verification are carried out, and after the movement safety is determined, a control instruction is generated and injected to the lunar vehicle to implement the control. Before sending a control command, a ground teleoperation workstation needs to carry out sufficient verification work, the control mode is mature, the safety is high, and the defect is that the moving efficiency of the lunar rover is low.
As a second step in the implementation of "three-step walking" in the lunar exploration project, manned lunar landing is expected to be achieved around 2030. In the plan, unlike the former lunar vehicle which is stopped and stopped, the manned lunar vehicle is combined with the driving of an astronaut and the control of a ground teleoperation system on the lunar surface to ensure that the lunar vehicle is in a continuous driving state for a long time. The ground teleoperation system plays an important role in lunar exploration as an auxiliary and supplementary means of an astronaut driving mode. With the requirement for the autonomous movement capability of the manned lunar vehicle improved, the traditional remote programming control mode is difficult to meet the requirement, and a new technical verification test and an attack requirement are provided for a ground remote operation system. However, it is difficult to simulate a real lunar environment on the ground, a lot of manpower and financial resources are needed, and great uncertainty exists. Therefore, it is necessary to design a virtual simulation system for simulating remote teleoperation of a lunar vehicle, so as to implement test verification on ground teleoperation related technologies in such a virtual operation environment, and provide technical support for development of a manned lunar vehicle prototype system.
The Chinese patent with the application number of 202011515955.2 discloses a space exploration mobile manned virtual simulation system, which comprises an operation platform, a six-degree-of-freedom motion platform, a virtual model establishing unit and a human-computer interaction unit, wherein virtual lunar typical landform characteristics are generated according to lunar surface landform statistical data so as to assist astronauts in carrying out operation training on lunar exploration vehicles. The Chinese patent with the application number of 202110113615.5 discloses an interaction device and an interaction control method of a lunar manned moving vehicle system, which realize the interaction control of a user-defined multi-channel input lunar moving vehicle through a multi-channel information fusion device, provide rich environment perception information and vehicle body state information for a manned lunar vehicle driver by utilizing a multi-sensor fusion perception system, and enhance the interactivity of the driving process, wherein the method does not relate to the construction of a lunar virtual scene. Chinese patent application No. 202111570206.4 discloses a driving simulation system and method for simulating lunar driving, wherein an operator controls a lunar vehicle to run on the lunar surface by using a device such as a handle or a keyboard, a virtual laser radar sensor is used for constructing a surrounding environment during movement of the lunar vehicle, and visual feedback such as lunar environment, vehicle attitude, driving information and the like is provided for the operator so as to realize that a spaceman carries out driving training of the lunar vehicle on the ground. However, this method cannot simulate a real ground teleoperation process of the lunar rover, for example, the problems of delay of a ground-moon communication link, limitation of a communication bandwidth, inaccurate positioning of the lunar rover, and the like are not considered.
Disclosure of Invention
The invention aims to provide a system for simulating remote teleoperation of a lunar vehicle, which is used for assisting the ground to carry out test verification of relevant technologies of teleoperation of the manned lunar vehicle and providing technical support for development of a manned lunar vehicle prototype system.
To solve the above technical problem, an embodiment of the present invention provides the following solutions:
a system for simulating remote teleoperation of a lunar vehicle comprises a teleoperation display and control interface and a lunar environment presentation simulator, wherein data sharing is realized between the teleoperation display and control interface and the lunar environment presentation simulator through a ground-moon simulation communication link;
the teleoperation display and control interface is based on ROS and Qt mixed programming, a graphical window is realized by using Qt, and topic communication, service communication and parameter communication are realized by using an information sharing communication mechanism in ROS; the teleoperation display control interface comprises a parameter setting module, a motion control module, a state display module, an image presentation module and a map presentation module;
the lunar environment presentation simulator is developed based on a Unity3D design and is used for simulating a real lunar vehicle and a lunar environment, and comprises a lunar vehicle simulation model, a sensor model and a lunar terrain and landform simulation model.
Preferably, the teleoperation display control interface and the lunar environment presentation simulator are developed based on an ROS architecture, and the teleoperation display control interface and the lunar environment presentation simulator can be deployed on one computer or two computers separately;
the parameter setting module is used for setting parameters of a host node address, a local IP address and a local host name, and meanwhile, is also used for storing user-defined parameter configuration, and the previous setting is used without being modified when the interface program is loaded next time.
Preferably, the motion control module is configured to send a speed control command of the lunar vehicle, that is, a desired angular speed and linear speed; the motion control module sends a speed control command in two modes, one mode is realized by rotating the disc, and an operator moves the small disc to form two numerical values of an angle and a center distance with the outer large circle, wherein the two numerical values are respectively and correspondingly set with an angular speed value and a linear speed value; the other is realized by dragging a numerical bar, and the angular speed and the linear speed can be respectively and independently set.
Preferably, the state display module is used for displaying state information of the lunar vehicle in the movement process, wherein the state information comprises linear speed, angular speed, battery capacity, battery voltage and fault information; the linear velocity and the angular velocity are displayed by a visual and visual instrument panel, and when the teleoperation display control interface receives a feedback lunar vehicle movement velocity message, a slot function is drawn through an instrument panel control to refresh the pointer angle; the battery power is displayed by a progress bar, and the range of the battery power is 0-100%; the battery voltage is displayed as a digital value; and updating and displaying the fault information in an interface window in a text mode, wherein the refreshing frequency is 1Hz.
Preferably, the image presenting module is configured to display stereoscopic image pair data of a lunar environment downloaded by an actual lunar vehicle, that is, a left image and a right image in front of the lunar vehicle; the image presentation module comprises two image display windows which respectively display a left image and a right image returned by the lunar vehicle, so that an operator can intuitively feel the change of the lunar surface environment in the motion process of the lunar vehicle.
Preferably, the map presentation module is used for displaying laser radar point cloud data of the lunar vehicle in the moving process and a lunar map model reconstructed according to the sensor data, and supports access of two-dimensional and three-dimensional map models.
Preferably, the lunar environment presentation simulator is used for simulating a lunar vehicle model, and specifically includes:
generating a URDF file according to the size of the actual lunar vehicle and the connection relation of the components; generating a lunar vehicle body model by using a URDF file of an actual lunar vehicle in the Unity3D, and deleting a combined body collision device among the parts and the collision device attribute of the wheel model; loading a rigid body component on the lunar vehicle main body model, and changing quality parameters according to the quality of the real lunar vehicle; setting the attribute of a collision device on a lunar vehicle wheel and tire model; and after the expected angular speed and linear speed of the lunar vehicle are obtained from the teleoperation display control interface, the parameters are converted into the parameters of the motor torque, the steering angle and the braking torque in the lunar vehicle model so as to simulate the forward, backward, braking, steering and slipping motion of the lunar vehicle.
Preferably, the sensor model comprises a camera model and a lidar model;
the lunar environment presentation simulator is used for simulating a camera model, and specifically comprises: selecting a proper position on a lunar vehicle model in the lunar environment presentation simulator as a camera placing point, and capturing an environment picture by a camera assembly in Unity3D as an image perception result; in a physical mode of the camera assembly, two parameters of the focal length of the camera and the size of a photosensitive element are set to be consistent with the parameters of a real camera, and the size of a picture to be captured can be set automatically, including the length and the width; the captured picture is stored in an image format after being coded and is released to an image data topic in an ROS message form to realize data subscription sharing;
the lunar environment presentation simulator is used for simulating a laser radar model, and specifically comprises: sixty six rays are emitted outwards by one cylindrical entity in the Unity3D and are rotated by 360 degrees to simulate a sixteen-line laser radar, and if the rays touch other objects, three-dimensional pose information of the object relative to the cylindrical entity is returned; detection information obtained by sixteen rays emitted by the cylindrical entity forms laser radar point cloud data after being coded, and the laser radar point cloud data is issued to a laser radar data topic in an ROS message mode to achieve data subscription and sharing.
Preferably, the lunar environment presentation simulator is used for simulating lunar landform, and specifically includes:
simulating real lunar environment characteristics including lunar undulating terrain, rocks, meteor craters and illumination; the lunar surface undulating terrain is regarded as a series of plane combinations which are continuous with each other and have different angles relative to a certain reference horizontal plane, and the simulation of the lunar surface undulating terrain is realized by selecting a plane grid group which has certain topological continuity and has certain angle change with each other; the meteorite craters are divided into large meteorite craters and small meteorite craters, the classification standard is the diameter size of the meteorite craters, the large meteorite crater is formed when the diameter is larger than 100 meters, and the small meteorite crater is formed otherwise; the number of the large meteorite craters is small, the placement positions are manually selected, the number of the small meteorite craters is large, and the small meteorite craters are placed in a uniform random distribution mode; the method is characterized in that the rocks are emitted and generated when the meteorite craters are born, are generally distributed around the large meteorite craters in a scattering manner, while the ejectes around the small meteorite craters are ignored, and the rocks are placed according to Gaussian distribution through C # and Matlab joint simulation; the sun illumination on the surface of the moon is simulated by adopting a half-Lambert illumination model, incident light rays adopt parallel light, and the illumination intensity refers to a true value.
Preferably, a communication link is established between the teleoperation display control interface and the lunar environment presentation simulator through a wireless local area network, namely, a lunar simulation communication link; the earth-moon simulation communication link adopts TCP protocol communication, an ROS-TCP-Endpoint script is deployed on the teleoperation display control interface, and an ROS-TCP-Connector script is deployed in the lunar environment presentation simulator; expanding the lunar vehicle state information in the lunar environment presentation simulator by using the ROS-TCP-Connector script and then publishing the information to an ROS topic, creating an Endpoint by using the ROS-TCP-Endpoint script, and publishing a lunar vehicle control command to the ROS topic, thereby establishing a communication mechanism using a publishing/subscribing model between the teleoperation display control interface and the lunar environment presentation simulator.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
the system for simulating remote teleoperation of the lunar vehicle provided by the embodiment of the invention mainly comprises a teleoperation display and control interface and a lunar environment presentation simulator, and data sharing is realized between the teleoperation display and control interface and the lunar environment presentation simulator through a ground-moon simulation communication link. The teleoperation display control interface comprises a parameter setting module, a motion control module, a state display module, an image presentation module and a map presentation module; the lunar environment presentation simulator is used for simulating a lunar vehicle model, a sensor model and lunar landform. The system is beneficial to carrying out test verification of relevant technologies of teleoperation of the manned lunar vehicle on the ground, has high innovativeness, simple operation and strong visibility, and is convenient to provide technical support for development of a manned lunar vehicle prototype system.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a system for simulating remote teleoperation of a lunar vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a teleoperation display control interface according to an embodiment of the present invention.
As shown in the drawings, in order to clearly implement the structures of the embodiments of the present invention, specific structures and devices are marked in the drawings, which are only for illustration purpose and are not intended to limit the present invention to the specific structures, devices and environments, and those skilled in the art can adjust or modify the devices and environments according to specific needs, and the adjusted or modified devices and environments still include the protection scope of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a system for simulating remote teleoperation of a lunar rover, which comprises a teleoperation display and control interface and a lunar environment presentation simulator, wherein data sharing is realized between the teleoperation display and control interface and the lunar environment presentation simulator through a ground-moon simulation communication link, as shown in fig. 1;
the teleoperation display and control interface is based on ROS and Qt mixed programming, a graphical window is realized by utilizing Qt, and topic communication, service communication and parameter communication are realized by utilizing an information sharing communication mechanism in ROS; the teleoperation display control interface comprises a parameter setting module, a motion control module, a state display module, an image presentation module and a map presentation module, and as shown in fig. 2, each module can be used as an independent window for display;
the lunar environment presentation simulator is developed based on a Unity3D design and is used for simulating a real lunar vehicle and a lunar environment, and comprises a lunar vehicle simulation model, a sensor model and a lunar terrain and landform simulation model.
In the embodiment of the invention, the teleoperation display and control interface and the lunar environment presentation simulator are developed based on an ROS framework, and the teleoperation display and control interface and the lunar environment presentation simulator can be simultaneously deployed on one computer or separately deployed on two computers. In order to ensure that the two devices carry out single-machine or multi-machine communication, the parameter setting module is used for setting parameters such as a main node address, a local machine IP address, a local machine host name and the like, and meanwhile, is also used for storing user-defined parameter configuration, and the previous setting is used without being modified again when an interface program is loaded next time. This is accomplished by writing the configuration information in a file in text or binary form, reading the file when used again, and parsing the configuration information.
The motion control module is used for sending a speed control command of the lunar vehicle, namely the expected angular speed and linear speed; the motion control module sends a speed control command in two modes, one mode is realized by rotating the disc, and an operator moves the small disc to form two numerical values of an angle and a center distance with the outer large circle, wherein the two numerical values are respectively and correspondingly set with an angular speed value and a linear speed value; the other is realized by dragging a numerical bar, and the angular speed and the linear speed can be respectively and independently set.
The state display module is used for displaying state information of the lunar vehicle in the movement process, wherein the state information comprises linear speed, angular speed, battery electric quantity, battery voltage, fault information and the like; the linear velocity and the angular velocity are displayed by a visual and visual instrument panel, and when the teleoperation display control interface receives a feedback lunar vehicle motion velocity message, a slot function is drawn through an instrument panel control to refresh the pointer angle; the battery power is displayed by a progress bar, and the range of the battery power is 0-100%; the battery voltage is displayed as a digital value; the fault information is displayed in the form of text in the interface window (for example, in the lower left window in fig. 2), and the refreshing frequency is 1Hz.
The image presentation module is used for displaying stereoscopic image pair data of a lunar environment downloaded by an actual lunar vehicle, namely a left image and a right image in front of the lunar vehicle; the image presentation module comprises two image display windows which respectively display a left image and a right image returned by the lunar vehicle, so that an operator can intuitively feel the change of the lunar surface environment in the motion process of the lunar vehicle.
The map presentation module is used for displaying laser radar point cloud data of the lunar vehicle in the moving process and a lunar map model reconstructed according to the sensor data, and supports two-dimensional and three-dimensional map model access.
Furthermore, the lunar environment presentation simulator is designed and developed based on Unity3D software, is used for simulating a real lunar vehicle and a lunar environment, and mainly comprises a lunar vehicle model, a sensor model and a lunar terrain and landform.
The lunar environment presentation simulator is used for simulating a lunar vehicle model and specifically comprises:
generating (United Robotics Description Format) URDF file according to the size and the component connection relation of the actual lunar rover, which is a language Format for describing the robot under an XML syntax frame; generating a lunar vehicle body model by using a URDF file of an actual lunar vehicle in the Unity3D, and deleting a combined body collision device among the parts and the collision device attribute of the wheel model; loading a rigid body component on a lunar vehicle main body model, and changing quality parameters according to the quality of a real lunar vehicle; setting the attribute of a collision device on a lunar vehicle wheel and tire model; and parameters such as motor torque, steering angle, braking torque and the like are set according to the performance of the driving motor of the lunar rover, and after the expected angular speed and linear speed of the lunar rover are obtained from the teleoperation display control interface, the parameters are converted into the parameters such as the motor torque, the steering angle, the braking torque and the like in the lunar rover model so as to simulate the forward, backward, braking, steering, slipping and other movements of the lunar rover.
An actual lunar vehicle is equipped with a camera and a lidar sensor, and thus, the sensor model includes a camera model and a lidar model.
The lunar environment presentation simulator is used for simulating a camera model, and specifically comprises: selecting a proper position on a lunar vehicle model in the lunar environment presentation simulator as a camera placing point, and capturing an environment picture by a camera assembly in Unity3D as an image perception result; in a physical mode of the camera assembly, two parameters of the focal length of the camera and the size of a photosensitive element (sensor) are set to be consistent with the parameters of a real camera, and the size of a picture to be captured can also be set by self, including the length and the width; the captured picture is stored in the image formats such as png after being coded and is published on the image data topics in the ROS message form to realize data subscription and sharing.
The lunar environment presentation simulator is used for simulating a laser radar model, and specifically comprises: sixty-six rays are emitted outwards by one cylindrical entity in the Unity3D and are rotated by 360 degrees to simulate a sixteen-line laser radar, and if the rays touch other objects, the three-dimensional pose information of the objects relative to the cylindrical entity is returned; detection information obtained by sixteen rays emitted by the cylindrical entity forms laser radar point cloud data after being coded, and the laser radar point cloud data is issued to a laser radar data topic in an ROS message mode to achieve data subscription and sharing.
The lunar environment presentation simulator is used for simulating lunar landform and landform, and specifically comprises the following steps: and simulating the characteristics of the real lunar environment, including lunar undulating terrain, rocks, meteor craters and illumination.
The lunar surface undulating terrain is regarded as a series of plane combinations which are continuous with each other and have different angles relative to a certain reference horizontal plane, and simulation of the lunar surface undulating terrain is achieved by selecting a plane grid set which has certain topological continuity and has certain angle change with each other.
The meteorite craters are divided into large meteorite craters and small meteorite craters, the classification standard is the diameter size of the meteorite craters, the large meteorite crater is formed when the diameter is larger than 100 meters, and the small meteorite crater is formed otherwise; the number of the large meteorite craters is small, the placement positions are manually selected by people, the number of the small meteorite craters is large, and the small meteorite craters are placed in an even random distribution mode.
Assuming that the size of the lunar relief is M × n, an M × n random matrix M consistent with the size of the lunar relief is constructed, which is composed of two numerical elements 0 and 1, wherein 1 occurs with a probability of 5%, as shown in the following formula:
wherein, for any element a in the matrix M ij Satisfies the probability p (a) ij = 1) =5%, and p (a) ij ＝0)＝95％。
Thus, in element a ij The position of =1 places a small merle crater, the diameter of which is a randomly generated number between 5 and 100 meters.
Rocks in the lunar surface undulating terrain can be regarded as sprays generated by emission when the meteorite crater is born, the sprays are generally distributed in a scattering shape around the large meteorite crater, the sprays around the small meteorite crater are ignored, and the rocks are placed in a Gaussian distribution through joint simulation of C # and Matlab.
Assuming that the density σ of the rock in the circular area around the large merle crater is distributed along the radius in a gaussian manner, the distribution law is as follows:
σ～N(μ,∑) (2)
where μ represents the mean of the density and may be taken as 300 and Σ represents the variance, i.e. the degree of attenuation along the radius, and may be taken as 400.
The method is characterized in that a half-Lambert illumination model is adopted to simulate the solar illumination on the surface of the moon, incident light adopts parallel light, and the illumination intensity refers to a true value, and specifically comprises the following steps:
c diffuse ＝(c light ·m diffuse )(0.5(n·I)+0.5) (3)
in the formula, c diffuse Is the intensity of the diffuse reflected light, c light As intensity of incident light, m diffuse Is the diffuse reflectance, n is the surface normal, and I is the light source direction.
Furthermore, a communication link is established between the teleoperation display control interface and the lunar environment presentation simulator through a wireless local area network, namely the lunar simulation communication link. The earth-moon simulation communication link adopts TCP protocol communication, an ROS-TCP-Endpoint script is deployed on the teleoperation display control interface, and the ROS-TCP-Connector script is deployed in the lunar environment presentation simulator. And expanding the lunar vehicle state information in the lunar environment presentation simulator by using an ROS-TCP-Connector script and then issuing the information to an ROS topic, creating an Endpoint by using the ROS-TCP-Endpoint script, and issuing a lunar vehicle control instruction to the ROS topic, thereby establishing a communication mechanism using a release/subscription model between the teleoperation display control interface and the lunar environment presentation simulator.
In actual earth-moon communication, constraints such as time delay (about 3 s) and transmission bandwidth limitation (about 1 Mbps) exist, and the objective constraints need to be simulated in an earth-moon simulated communication link. Because the earth-moon analog communication link is constructed based on the wireless local area network, the communication time delay is millisecond level and can be ignored, and the transmission bandwidth is far larger than 1Mbps. Therefore, communication delay and transmission bandwidth limitation are simulated in the system through data processing time and transmission data size.
Data transmission is realized between the teleoperation display control interface and the lunar environment presentation simulator through publishing/subscribing messages, a message response processing function is triggered after a new data message is updated, a delay (about 3 s) is designed in the message response processing function, and the data is read after the delay is finished, namely the message before the delay period, so that the aim of simulating communication delay is fulfilled.
The transmission bandwidth between the teleoperational display control interface and the lunar environment presentation simulator is about 1Mbps, namely 128KB/s, namely 128KB per second. The data which occupies bandwidth resources is compared with image data and laser radar point cloud data. Assuming that the image data is a fps and the frequency of the lidar point cloud data is b Hz, the size limit of each frame of image data and the lidar point cloud data is 128/a (KB) and 128/b (KB), respectively, and the two values are taken as the limit of the size of each frame of image data and the lidar point cloud data. When the data size meets the limit, the data is directly transmitted, and when the data size exceeds the limit, the data is compressed and then transmitted.
For image data, the H.265 protocol is adopted for compression transmission, and assuming that the compression ratio is h, and the original image size of one frame is p (KB), the compressed size is p/h. If p/h is less than or equal to 128/a, the compressed image is directly transmitted, otherwise, the image is segmented into q small matrixes according to the index of the image matrix, namely, the image is segmented into a plurality of small blocks of images to be transmitted, and q satisfies the following conditions:
this image segmentation process may be implemented by calling the NumPy library in Python.
And for the laser radar point cloud data, firstly, compressing by adopting a G-PCC method, if the size of the compressed data meets the limit, directly transmitting the compressed data, and otherwise, repeatedly encoding and compressing the laser radar point cloud data. The method specifically comprises the following steps: since the surface of the object in the environment is mostly planar, even if it is not planar, it can be approximated by a plane, as shown in the following formula:
Ax+By+Cz+D＝0 (5)
then, a least square method is adopted to encode the laser radar point cloud data points on the same plane, namely:
wherein (x) i ,y i ,z i ) And n is the data point number of the laser radar point cloud on the plane.
Therefore, the four coefficients a, B, C, and D can be obtained by the simultaneous equations (5) and (6). Assuming that the compression ratio of encoding the laser radar point cloud data by adopting a plane equation is k, and the size of one frame of original laser radar point cloud data is l, the compressed size is l/k. If l/k is less than or equal to 128/b, directly transmitting after compression, otherwise, repeatedly adopting the plane equation (5) to carry out coding compression until the requirement of transmission bandwidth is met.
The system for simulating remote teleoperation of the lunar rover provided by the embodiment of the invention mainly comprises a teleoperation display and control interface and a lunar environment presentation simulator, and data sharing is realized between the teleoperation display and control interface and the lunar environment presentation simulator through a ground-moon simulation communication link. The teleoperation display control interface comprises a parameter setting module, a motion control module, a state display module, an image presentation module and a map presentation module; the lunar environment presentation simulator is used for simulating a lunar vehicle model, a sensor model and lunar landform. The system is beneficial to carrying out test verification of relevant technologies of teleoperation of the manned lunar vehicle on the ground, has high innovativeness, simple operation and strong visibility, and is convenient to provide technical support for development of a manned lunar vehicle prototype system.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal apparatus. Without further limitation, an element defined by the phrases "comprising one of \ 8230; \8230;" does not exclude the presence of additional like elements in a process, method, article, or terminal device that comprises the element.
References in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the relevant art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.
The invention is intended to cover alternatives, modifications, equivalents, and alternatives that may be included within the spirit and scope of the invention. In the following description of the preferred embodiments of the present invention, specific details are set forth in order to provide a thorough understanding of the present invention, and it will be apparent to those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures, components, circuits, and the like have not been described in detail as not to unnecessarily obscure aspects of the present invention.
Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by relevant hardware instructed by a program, and the program may be stored in a computer readable storage medium, such as: ROM/RAM, magnetic disk, optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.
Claims (10)
1. A system for simulating remote teleoperation of a lunar rover is characterized by comprising a teleoperation display control interface and a lunar environment presentation simulator, wherein data sharing is realized between the teleoperation display control interface and the lunar environment presentation simulator through a ground-moon simulation communication link;
the teleoperation display and control interface is based on ROS and Qt mixed programming, a graphical window is realized by using Qt, and topic communication, service communication and parameter communication are realized by using an information sharing communication mechanism in ROS; the teleoperation display control interface comprises a parameter setting module, a motion control module, a state display module, an image presentation module and a map presentation module;
the lunar environment presentation simulator is developed based on a Unity3D design and is used for simulating a real lunar vehicle and a lunar environment, and comprises a lunar vehicle simulation model, a sensor model and a lunar terrain and landform simulation model.
2. The system of claim 1, wherein the teleoperational display interface and the lunar environment presentation simulator are developed based on an ROS architecture, and can be deployed on one computer or separately on two computers;
the parameter setting module is used for setting parameters of a host node address, a local IP address and a local host name, and meanwhile, is also used for storing user-defined parameter configuration, and the previous setting is used without being modified when the interface program is loaded next time.
3. The system for simulating remote teleoperation of a lunar vehicle as defined in claim 1, wherein the motion control module is configured to send a speed control command of the lunar vehicle, i.e. a desired angular velocity and linear velocity; the motion control module sends a speed control command in two modes, one mode is realized by rotating the disc, and an operator moves the small disc to form two numerical values of an angle and a center distance with the outer large circle, wherein the two numerical values are respectively and correspondingly set with an angular speed value and a linear speed value; the other is realized by dragging a numerical bar, and the angular speed and the linear speed can be respectively and independently set.
4. The system for simulating remote teleoperation of a lunar vehicle according to claim 1, wherein the status display module is used for displaying status information of the lunar vehicle during movement, including linear velocity, angular velocity, battery level, battery voltage and fault information; the linear velocity and the angular velocity are displayed by a visual and visual instrument panel, and when the teleoperation display control interface receives a feedback lunar vehicle movement velocity message, a slot function is drawn through an instrument panel control to refresh the pointer angle; the battery power is displayed by a progress bar, and the range of the battery power is 0-100%; the battery voltage is displayed as a digital value; and updating and displaying the fault information in an interface window in a text mode, wherein the refreshing frequency is 1Hz.
5. The system for simulating remote teleoperation of a lunar vehicle according to claim 1, wherein the image rendering module is configured to display stereoscopic image pair data of lunar environment downloaded from an actual lunar vehicle, namely left and right images in front of the lunar vehicle; the image presentation module comprises two image display windows which respectively display a left image and a right image returned by the lunar vehicle, so that an operator can intuitively feel the change of the lunar surface environment in the motion process of the lunar vehicle.
6. The system for simulating remote teleoperation of a lunar vehicle as claimed in claim 1, wherein the map presentation module is configured to display lidar point cloud data of the lunar vehicle during motion and a lunar map model reconstructed from sensor data, supporting two-dimensional and three-dimensional map model access.
7. The system for simulating remote teleoperation of a lunar vehicle according to claim 1, wherein the lunar environment presentation simulator is used for simulating a lunar vehicle model, and specifically comprises:
generating a URDF file according to the size of the actual lunar vehicle and the connection relation of the components; generating a lunar vehicle body model by using a URDF file of an actual lunar vehicle in the Unity3D, and deleting a combined body collision device among the parts and the collision device attribute of the wheel model; loading a rigid body component on the lunar vehicle main body model, and changing quality parameters according to the quality of the real lunar vehicle; setting the attributes of the colliders on the lunar vehicle wheel and tire models; and setting motor torque, steering angle and braking torque parameters according to the performance of the driving motor of the lunar rover, and converting the angular velocity and linear velocity of the lunar rover into the motor torque, steering angle and braking torque parameters in a lunar rover model after obtaining the expected angular velocity and linear velocity of the lunar rover from the teleoperation display control interface so as to simulate the forward, backward, braking, steering and slipping motion of the lunar rover.
8. The system for simulating remote teleoperation of a lunar vehicle according to claim 1, wherein the sensor model comprises a camera model and a lidar model;
the lunar environment presentation simulator is used for simulating a camera model, and specifically comprises: selecting a proper position on a lunar vehicle model in the lunar environment presentation simulator as a camera placing point, and capturing an environment picture by a camera assembly in Unity3D as an image perception result; in a physical mode of the camera assembly, two parameters of the focal length of the camera and the size of a photosensitive element are set to be consistent with the parameters of a real camera, and the size of a picture to be captured can be set automatically, including the length and the width; the captured pictures are stored in an image format after being coded and are released to the image data topic in an ROS message form to realize data subscription and sharing;
the lunar environment presentation simulator is used for simulating a laser radar model, and specifically comprises: sixty six rays are emitted outwards by one cylindrical entity in the Unity3D and are rotated by 360 degrees to simulate a sixteen-line laser radar, and if the rays touch other objects, three-dimensional pose information of the object relative to the cylindrical entity is returned; detection information obtained by sixteen rays emitted by the cylindrical entity forms laser radar point cloud data after being coded, and the laser radar point cloud data is issued to a laser radar data topic in an ROS message mode to achieve data subscription and sharing.
9. The system for simulating remote teleoperation of a lunar vehicle according to claim 1, wherein the lunar environment presentation simulator is used for simulating lunar terrain features, and specifically comprises:
simulating real lunar environment characteristics including lunar undulating terrain, rocks, meteor craters and illumination; the lunar surface undulating terrain is regarded as a series of plane combinations which are continuous with each other and have different angles relative to a certain reference horizontal plane, and simulation of the lunar surface undulating terrain is realized by selecting a plane grid group which has certain topological continuity and has certain angle change with each other; the meteorite craters are divided into large meteorite craters and small meteorite craters, the classification standard is the diameter size of the meteorite craters, the large meteorite crater is formed when the diameter is larger than 100 meters, and the small meteorite crater is formed otherwise; the number of large meteorite craters is small, the placement position is manually selected, the number of small meteorite craters is large, and the small meteorite craters are placed in an even random distribution mode; the method is characterized in that the rocks are emitted and generated when the meteorite craters are born, generally distributed around the large meteorite crater in a scattering manner, the jets around the small meteorite crater are ignored, and the rocks are placed in Gaussian distribution through C # and Matlab joint simulation; the sun illumination on the surface of the moon is simulated by adopting a half-Lambert illumination model, the incident light adopts parallel light, and the illumination intensity refers to a real value.
10. The system for simulating remote teleoperation of a lunar vehicle according to claim 1, wherein a communication link is established between the teleoperation display and control interface and the lunar environment presentation simulator through a wireless local area network, namely a simulated earth-moon communication link; the earth-moon simulation communication link adopts TCP protocol communication, an ROS-TCP-Endpoint script is deployed on the teleoperation display control interface, and an ROS-TCP-Connector script is deployed in the lunar surface environment presentation simulator; and expanding the lunar vehicle state information in the lunar environment presentation simulator by using an ROS-TCP-Connector script and then issuing the information to an ROS topic, creating an Endpoint by using the ROS-TCP-Endpoint script, and issuing a lunar vehicle control instruction to the ROS topic, thereby establishing a communication mechanism using a release/subscription model between the teleoperation display control interface and the lunar environment presentation simulator.
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