CN111025995A - Space manipulator teleoperation communication system based on space-based relay communication - Google Patents
Space manipulator teleoperation communication system based on space-based relay communication Download PDFInfo
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- CN111025995A CN111025995A CN201911370457.0A CN201911370457A CN111025995A CN 111025995 A CN111025995 A CN 111025995A CN 201911370457 A CN201911370457 A CN 201911370457A CN 111025995 A CN111025995 A CN 111025995A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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- G05B2219/23051—Remote control, enter program remote, detachable programmer
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Abstract
The invention relates to a space manipulator teleoperation communication system based on space-based relay communication, which comprises: the system comprises a ground teleoperation unit, a heaven and earth data communication unit and an on-orbit mechanical arm unit; the ground teleoperation unit comprises a ground teleoperation platform, a prediction simulation mechanism and a task simulation verification mechanism; the space-ground data communication unit comprises a flight control center, a relay satellite ground station, a relay satellite, a relay terminal, a high-speed communication processor, a data management core processing unit and a switch; the on-orbit mechanical arm unit comprises a mechanical arm operating platform, an extravehicular mechanical arm and a target adapter. The space manipulator teleoperation communication system based on space-based relay communication has universality and good expandability; the system compatibility is good; the strategy of receiving and sending cache by adopting a teleoperation instruction sequence can solve the problem of the influence of time delay jitter on the stability of the on-orbit mechanical arm control.
Description
Technical Field
The invention relates to the field of aerospace communication, in particular to a space manipulator teleoperation communication system based on space-based relay communication.
Background
With the development of human space exploration activities, various space task have emerged. The astronaut is sent into the space, and the intelligence and the flexibility of the human are brought into play, so that the method is high in efficiency, but the cost is high, and the safety cannot be effectively guaranteed; therefore, the space robot is used for replacing an astronaut to complete various complex space tasks and is a main means for subsequent space operation. However, fully autonomous space robots are difficult to implement for a long period of time, subject to the state of the art. Therefore, by teleoperation of the space robot by an operator on the ground, the human and the robot together perform complex space operations, which is the main form of space robot application today and in the future. The teleoperation of the space robot needs to consider the influence of long communication delay and communication stability on the system.
Disclosure of Invention
The invention aims to solve the problems and provides a space manipulator teleoperation communication system based on space-based relay communication.
In order to achieve the above object, the present invention provides a space manipulator teleoperation communication system based on space-based relay communication, the communication system comprising: the system comprises a ground teleoperation unit, a heaven and earth data communication unit and an on-orbit mechanical arm unit;
the ground teleoperation unit comprises a ground teleoperation platform, a prediction simulation mechanism and a task simulation verification mechanism;
the space-ground data communication unit comprises a flight control center, a relay satellite ground station, a relay satellite, a relay terminal, a high-speed communication processor, a data management core processing unit and a switch;
the on-orbit mechanical arm unit comprises a mechanical arm operating platform, an extravehicular mechanical arm and a target adapter.
According to one aspect of the invention, the state of the ground teleoperation platform is consistent with that of the mechanical arm operation platform, a mechanical arm teleoperation instruction is generated through a handle and a control panel on the ground teleoperation platform, and the mechanical arm teleoperation instruction is sent to the prediction simulation mechanism and the on-rail mechanical arm to be executed after being verified to be correct by the task simulation verification mechanism.
According to one aspect of the invention, the predictive simulation mechanism includes a predictive simulation portion, a virtual scene display, and a video display;
the prediction simulation mechanism predicts the running condition of the space robot according to the teleoperation instruction, outputs the prediction result to the virtual scene display for displaying and outputs the prediction result to the handle for force feedback control, continuously sends the teleoperation instruction to the space robot according to the prediction condition of the virtual scene display and the force feedback condition of the operating handle, and when the teleoperation instruction reaches the real operating scene of the space manipulator, the manipulator moves according to the instruction, and the real scene video is sent back to the video display.
According to one aspect of the invention, the operation instruction data sent by the ground teleoperation unit is uniformly verified by the flight control center and then is scheduled to generate uplink data, and the ground teleoperation unit realizes channel coding, modulation and sending of the data; and the downlink telemetering data and the image communication data are received, demodulated and decoded by the ground teleoperation unit and then are uniformly managed by the flight control center and are transmitted to the ground teleoperation unit for virtual prediction correction and scene reconstruction.
According to one aspect of the invention, the mechanical arm operating platform comprises an operating handle, an operating panel input interface and an image and parameter feedback display interface, and data communication is performed between the mechanical arm operating platform and the extravehicular mechanical arm through a mechanical arm intracavitary 1553B bus.
According to one aspect of the invention, the extravehicular robotic arm comprises 1 central controller, 7 joint controllers, 2 end controllers, and an ethernet-based vision camera system.
According to one aspect of the invention, the space-ground data communication unit is designed by adopting a CCSDS space communication protocol system.
According to one aspect of the invention, the data management core processing unit is used for unified management of spacecraft platform 1553B bus data, including teleoperation uplink instruction data and teleoperation downlink telemetry data;
the switch is used for routing exchange of Ethernet communication data between the space vehicle and the sky, and comprises a display sent to a mechanical arm image station and a ground teleoperation system;
the high-speed communication processor is used for AOS framing, virtual channel priority scheduling and encryption and decryption processing of space-ground high-speed data communication.
According to one aspect of the invention, buffer areas are arranged on the ground teleoperation platform and the mechanical arm operation platform, the ground teleoperation platform generates 1 packet of operation instruction EPDU packet every 50ms, the packet is framed into an uplink teleoperation instruction VCDU frame after the ground buffer 10 packets, and the uplink teleoperation instruction VCDU frame is sent to the mechanical arm operation platform through the sky-ground data communication unit every 500 ms; after on-track reception, the data is put into a receiving buffer queue, and a packet of instructions is sent to the central controller to be executed according to time equal intervals.
According to one aspect of the invention, each EPDU packet of the teleoperation instruction sent to the space manipulator from the ground contains a unique packet sequence count which is used as a time stamp, and after the rail manipulator executes the instruction, the sequence count value of the instruction is added into the telemetry parameters and sent back to the ground control terminal.
According to the space manipulator teleoperation communication system based on space-based relay communication, the following beneficial effects can be achieved:
the space-ground teleoperation data communication system architecture has universality and good expandability;
the communication protocol is designed based on CCSDS AOS, and the system compatibility is good;
the problem of the influence of time delay jitter on the stability of on-orbit mechanical arm control can be solved by adopting a strategy of receiving, transmitting and caching a teleoperation instruction sequence;
the time synchronization problem of ground prediction simulation model correction can be solved by adopting a sequence stamp strategy.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a block diagram schematically illustrating a space manipulator teleoperation communication system based on space-based relay communication according to the present invention;
FIG. 2 is a schematic representation of an information system architecture diagram of an on-track robotic arm unit in accordance with the present invention;
FIG. 3 is a schematic representation of a teleoperational data flow diagram of a space manipulator in accordance with the present invention;
fig. 4 schematically shows a schematic diagram of the uplink teleoperation instruction delay jitter and time synchronization processing according to the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
In describing embodiments of the present invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship that is based on the orientation or positional relationship shown in the associated drawings, which is for convenience and simplicity of description only, and does not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, the above-described terms should not be construed as limiting the present invention.
The present invention is described in detail below with reference to the drawings and the specific embodiments, which are not repeated herein, but the embodiments of the present invention are not limited to the following embodiments.
Fig. 1 is a block diagram schematically showing a space manipulator teleoperation communication system based on space-based relay communication according to the present invention. As shown in fig. 1, the space manipulator teleoperation communication system based on space-based relay communication according to the present invention includes a ground teleoperation unit 1, a space-ground data communication unit 2, and an on-orbit manipulator unit 3. In the present embodiment, the ground teleoperation unit 1 includes a ground teleoperation console 101, a prediction simulation mechanism 102, and a task simulation verification mechanism 103; the space-ground data communication unit 2 comprises a flight control center, a relay satellite ground station, a relay satellite, a relay terminal, a high-speed communication processor, a data management core processing unit and a switch; the on-track robot arm unit 3 includes a robot arm operating table 301, an extravehicular robot arm 302, and a target adapter.
In the embodiment, the state of the ground teleoperation platform is consistent with that of the on-orbit operation platform, a mechanical arm teleoperation instruction is generated through a handle and a control panel, and the mechanical arm teleoperation instruction is sent to the prediction simulation mechanism and the on-orbit mechanical arm to be executed after being verified to be correct by the task simulation verification mechanism.
In this embodiment, the predictive simulation mechanism 102 includes a predictive simulation portion, a virtual scene display 1021, and a video display 1022;
the prediction simulation mechanism 102 predicts the operation condition of the space robot according to the teleoperation instruction, outputs the prediction result to the virtual scene display 1021 and the operation handle for force feedback, and continues to send the teleoperation instruction to the space robot according to the prediction condition of the virtual scene display 1021 and the force feedback condition of the operation handle without waiting for the display result of the video display. When the teleoperation instruction reaches the real operation scene of the space manipulator, the manipulator moves according to the instruction, and the real scene video is sent back to the video display.
In this embodiment, the operation instruction data sent by the ground teleoperation unit 1 is uniformly verified by the flight control center and then is scheduled to generate uplink data, and the ground teleoperation unit 1 is used for realizing channel coding, modulation and sending of the data; the downlink telemetering data and the image communication data are received, demodulated and decoded by the ground teleoperation unit 1 and then are uniformly managed by the flight control center and are transmitted to the ground teleoperation unit 1 for virtual prediction correction and scene reconstruction.
Fig. 2 schematically shows a diagram of an information system architecture of an on-track robotic arm unit according to the present invention. As shown in fig. 2, the on-track robot arm unit 3 is composed of a robot arm console 301, an overboard robot arm 302, and a target adapter. The mechanical arm operating platform is the center of an on-orbit operation mechanical arm of a astronaut, and comprises an input interface such as an operating handle and an operating panel and a feedback display interface such as images and parameters, and data communication is carried out between the operating platform 301 and the extravehicular mechanical arm 302 through a 1553B bus in a mechanical arm cabin. The extravehicular mechanical arm body mainly comprises 1 central controller, 7 joint controllers, 2 end controllers and 1 set of visual camera system based on the Ethernet.
Figure 3 schematically shows a teleoperational data flow diagram of a space manipulator according to the present invention. As shown in fig. 3, the space-ground data communication unit 2 is designed by using the CCSDS space communication protocol architecture. The onboard data management core processing unit completes unified management of the spacecraft platform 1553B bus data, including teleoperation uplink instruction data, teleoperation downlink telemetering data and the like; the exchanger completes the route exchange of the Ethernet communication data in the spacecraft and between the heaven and the earth, and comprises a display sent in the mechanical arm image station and a ground teleoperation system for display; the high-speed communication processor completes AOS framing, virtual channel priority scheduling and encryption and decryption processing of world high-speed data communication.
Fig. 4 schematically shows a schematic diagram of the uplink teleoperation instruction delay jitter and time synchronization processing according to the present invention. As shown in fig. 4, in this embodiment, to solve the delay jitter effect of the uplink teleoperation command, buffer areas are respectively disposed on the ground teleoperation station and the on-track teleoperation station, the ground teleoperation station generates 1 packet of an operation command EPDU packet every 50ms, the ground buffers 10 packets and then frames the packets into an uplink teleoperation command VCDU frame, and the uplink teleoperation command VCDU frame is transmitted to the on-track teleoperation station through the sky-ground data communication system every 500 ms; after rail receiving, the rail receiving system is put into a receiving buffer queue, and a packet of instructions is sent to a central controller to be executed at equal time intervals (50ms), so that the influence of time delay jitter of heaven and earth communication on the stability of mechanical arm operation control is avoided. In order to correct the model of the prediction simulation mechanism, the simulation mechanism automatically corrects the robot in the virtual scene once by using the state information of the mechanical arm acquired from the telemetering information of the real scene at regular time intervals or after a certain operation step, so as to control the error range. However, due to the existence of communication delay and jitter, it is impossible to determine from which time point the acquired state information comes, and thus model matching cannot be performed. In order to solve the problem, a sequence stamp strategy is adopted, a teleoperation instruction EPDU packet sent to the space manipulator from the ground contains a unique packet sequence count which is used as a time stamp, after the track manipulator executes the instruction, the sequence count value of the instruction is added into a telemetering parameter and sent back to the ground control end, so that the ground control end can determine the actual state information of the manipulator corresponding to the executed instruction, and a prediction simulation model can be corrected.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A space manipulator teleoperation communication system based on space-based relay communication, characterized in that the communication system comprises: the system comprises a ground teleoperation unit, a heaven and earth data communication unit and an on-orbit mechanical arm unit;
the ground teleoperation unit comprises a ground teleoperation platform, a prediction simulation mechanism and a task simulation verification mechanism;
the space-ground data communication unit comprises a flight control center, a relay satellite ground station, a relay satellite, a relay terminal, a high-speed communication processor, a data management core processing unit and a switch;
the on-orbit mechanical arm unit comprises a mechanical arm operating platform, an extravehicular mechanical arm and a target adapter.
2. The space manipulator teleoperation communication system based on space-based relay communication is characterized in that the state of the ground teleoperation platform is consistent with that of the manipulator operation platform, manipulator teleoperation instructions are generated through a handle and a control panel on the ground teleoperation platform, and the manipulator teleoperation instructions are sent to the prediction simulation mechanism and the on-rail manipulator to be executed after being verified to be correct by the task simulation verification mechanism.
3. The space manipulator teleoperational communication system based on space-based relay communication of claim 1, wherein the predictive simulation mechanism comprises a predictive simulation part, a virtual scene display and a video display;
the prediction simulation mechanism predicts the running condition of the space robot according to the teleoperation instruction, outputs the prediction result to the virtual scene display for displaying and outputs the prediction result to the handle for force feedback control, continuously sends the teleoperation instruction to the space robot according to the prediction condition of the virtual scene display and the force feedback condition of the operating handle, and when the teleoperation instruction reaches the real operating scene of the space manipulator, the manipulator moves according to the instruction, and the real scene video is sent back to the video display.
4. The space manipulator teleoperation communication system based on space-based relay communication of claim 1, wherein the operation instruction data sent by the ground teleoperation unit is uniformly verified by the flight control center and then is scheduled to generate uplink data, and the ground teleoperation unit is used for realizing channel coding, modulation and transmission of the data; and the downlink telemetering data and the image communication data are received, demodulated and decoded by the ground teleoperation unit and then are uniformly managed by the flight control center and are transmitted to the ground teleoperation unit for virtual prediction correction and scene reconstruction.
5. The space manipulator teleoperation communication system based on space-based relay communication of claim 1, wherein the manipulator console comprises an operation handle, an operation panel input interface and an image and parameter feedback display interface, and data communication is performed between the manipulator console and the extravehicular manipulator through a manipulator intra-cabin 1553B bus.
6. The space manipulator teleoperational communication system based on space-based relay communication of claim 1, wherein the extravehicular manipulator comprises 1 central controller, 7 joint controllers, 2 end controllers and an ethernet-based vision camera system.
7. The space manipulator teleoperation communication system based on space-based relay communication, wherein the space-ground data communication unit is designed by adopting CCSDS space communication protocol system.
8. The space manipulator teleoperation communication system based on space-based relay communication of claim 1, wherein the data management core processing unit is used for unified management of spacecraft platform 1553B bus data, and comprises teleoperation uplink instruction data and teleoperation downlink telemetry data;
the switch is used for routing exchange of Ethernet communication data between the space vehicle and the sky, and comprises a display sent to a mechanical arm image station and a ground teleoperation system;
the high-speed communication processor is used for AOS framing, virtual channel priority scheduling and encryption and decryption processing of space-ground high-speed data communication.
9. The space manipulator teleoperation communication system based on space-based relay communication of claim 6, wherein buffer areas are arranged on the ground teleoperation platform and the manipulator operation platform, the ground teleoperation platform generates 1 EPDU (electronic data Unit) packet of operation instructions every 50ms, the ground teleoperation platform frames 10 EPDU packets after buffering into an uplink teleoperation instruction VCDU (virtual channel data Unit) frame, and the VCDU frame is transmitted to the manipulator operation platform through the space-ground data communication unit every 500 ms; after on-track reception, the data is put into a receiving buffer queue, and a packet of instructions is sent to the central controller to be executed according to time equal intervals.
10. The space manipulator teleoperation communication system based on space-based relay communication as claimed in claim 9, wherein the teleoperation command EPDU packet sent to the space manipulator from the ground contains a unique packet sequence count, which is used as a timestamp, and after the track manipulator executes the command, the sequence count value of the command is added to the telemetry parameters and sent to the ground control end.
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