关键词: 月球科研试验站, 月球环境, 人机协同, 人机交互

Abstract: To address the extreme constraints on the Moon, including low gravity, intense radiation, large temperature fluctuations, lunar dust contamination and communication time delay, and to solve the problem of long-duration, wide-range and high-intensity scientific tasks for manned lunar research station, a human-robot collaboration framework adapted to the lunar environment is proposed. The characteristics of lunar exploration missions and the core values of human and robot in lunar surface operations are systematically analyzed. The irreplaceable roles of humans in unknown scenario judgment, precise manipulation, fault handling, and on-site emergency decision-making, as well as the auxiliary advantages of robots in repetitive tasks, heavy physical labor, operations in hazardous areas, and wide-area coverage detection are clarified. According to four functional scenarios, i.e. crew habitation, scientific experiment, resource development, and service support, the hierarchical task allocation between humans and robots is carried out, and the preliminary division principles for each functional scenario and task are established. Taking human-robot collaborative exploration as a typical mission, a collaborative exploration system consisting of extravehicular human systems, manned pressurized rovers, robots, lunar surface and ground support systems is constructed; a four-layer information interaction architecture including perception, decision-making, planning, and operation is designed; the four collaboration levels, including command control, decision management, approval management, and exception management are defined; and a safety-efficiency oriented selection process for collaboration modes is presented. The proposed human-robot collaboration mode can exploit the complementary strengths of humans and robots, providing a reference for the future construction and efficient operation of China’s lunar research station.

Key words: lunar research station, lunar environment, human-robot collaboration, human-robot interaction