在轨对星球表面遥操作技术现状与展望

Review and prospects of orbit-to-surface teleoperation

在轨对星球表面遥操作技术面向未来星球表面样本收集与分析、设备运输与部署、基础设施建设与维护等日愈增长的复杂任务需求,通过星球轨道载人航天器内的航天员在轨遥操作星球表面的机器人执行作业任务,是推动未来载人登月、月球基地建设和载人火星探测等任务实质进展的关键支撑.本文综述了NASA,ROSCOSMOS,ESA等航天机构围绕在轨对星球表面遥操作开展的Surface Telerobotics,KONTUR,METERON等工程专项和系列在轨技术试验,分析了在轨对星球表面遥操作中的人机交互界面设计、人机工效设计、力反馈和空间通信等关键技术,并结合中国未来深空探测发展趋势和任务需求,提出了利用即将建成的中国空间站开展航天员在轨对地遥操作挖掘安置试验、遥操作建筑3D打印试验等技术试验设想,为中国未来月球基地建设等重大深空任务中在轨对星球表面遥操作技术的研究和试验验证提供参考.

Orbit-to-surface teleoperation(OTST)is aimed at serving the planet-surface robotic operations including the collection and analysis of material,transportation and deployment of equipment,construction and maintenance of infrastructure,etc.It allows for the planetsurface tasks performed by robots that are teleoperated by astronauts in orbiting spacecraft,which is a crucial technology for manned lunar-landing,lunar bases construction and manned Mars exploration missions in the future.In this paper,the existing projects and experiments of OTST carried out by NASA,ROSCOSMOS,ESA and DRL are reviewed.The key technologies such as man-machine interaction interface design,ergonomics design,force feedback and space-ground communication are analyzed.Moreover,considering the trend and demands of China’s deep space exploration in the future,the envision that using the to-be-built Chinese space station to carry out experiments such as orbit-to-ground teleoperation on equipment placement and 3 D printing of buildings is proposed.This work may provide some insight into the technologies and experiments of OTST for China’s lunar base construction and other major deep space missions in the future.