Design And Implementation Real-time Visualization Interface For Lunar Sampling In The Lunar Exploration Project

China's lunar exploration project is divided into three steps: “around”,“fall” and “back”.Now,it has been completed two important stages of “around” and “fall”.In the project,“Chang'e I” was completed the task of orbiting the Moon,and "Chang'e III" was landed the surface of the Moon.The implementation of two steps laid a solid foundation for implementation of the lunar sampling task in the future.In May 2018,the "Queqiao" Relay Satellite successfully reached the L2 point of Lagrange.In Janurary 2019,"Chang'e IV",as the backup star of the "Chang'e III",was given a new task that completed the soft landing of the moon.The implementation of the mission was inseparable from teleoperation technology.Real-time visualization system relying on teleoperation technology reduced the turnover rate during the mission so that the task is completed successfully.In the end of 2019,it's expected that “Chang'e V” satellite will be launched to the lunar surface and completed the task of unmanned sampling soil on the lunar surface.To ensure the smooth implementation of tasks,it need also be by means of teleoperation three-dimensional visualization platform.According to the above situation,it is proposed to design a 3D visualization interface,combined with domestic and foreign manipulator,teleoperation,visualization and extraterrestrial sampling.It is provided a technical basis for lunar sampling to escorting the lunar exploration project in the future.To design 3D visualization interface of controlling manipulator,the model of Lunar Probe will be created by using Autodesk 3ds Max and divided into nine parts.Then the model is showed in the visualization view by the resource code of OpenSceneGraph.The panel for Controlling Manipulator,designed by Qt,can be realized to control the manipulator.After testing,it is proved that the created button can control of the manipulator.Finally,the 3D real-time visualization system can be used to receive and transmit teleoperation information in real time.At the same time,it can assist the ground teleoperator to familiarize with the operation of the manipulator.