Research And System Implementation Of Key Technologies Of Human-robot Cooperation For Lunar Surface Detection Tasks

In the lunar exploration activities that humans will participate in the future,a human-robot joint operation will effectively integrate human intelligence with robot intelligence and mechanical efficiency,greatly improving the efficiency of lunar detection and construction of lunar bases.It is an important means and operation mode to achieve the goal of manned lunar detection in the future.At present,human-robot collaboration is mostly through one-way,structured control instructions from humans to robots.In the execution of unstructured tasks,the uncertainty of the robots performing tasks poses a huge challenge to the efficiency of human-robot interaction.A new human-robot cooperation mode is proposed to constructs the best human-computer task ratio,establishes a collaborative perception mechanism that meets the high transparency of human-robot information interaction,and realizes the best collaboration for the efficiency and efficacy of human-robot cooperation.Firstly,the characteristics of the lunar exploration task are analyzed,and a human-robot cooperation architecture for lunar surface detection task is proposed.Meanwhile,it presents a new operating mechanism of collaborative mode and elaborates the working mode of the functional modules in the collaborative architecture by comparing the traditional human-robot control modes.Then a task decomposition method based on the heuristic algorithm is proposed,which realizes a task planning that combines autonomous with manual and the generation of task Petri nets.It establishes an intelligent task assignment method based on contract nets.Moreover,a mechanism of human-robot information processing and sharing based on robot questioning technology is proposed,which is based on the BDI model and semi-observation Markov chain model to determine the requirements of human-robot information interaction.Finally,the category of information exchange and the selection rules of interaction methods are put forward by taking the lunar mining task as an example.Eventually,the prototype system of human-robot cooperation is built and the experimental verification is carried out based on the existing robot platform,which demonstrates the feasibility of man-machine cooperation architecture and key technologies.