关键词: 嫦娥六号, 自主智能, 微小机器人, 智能感知, 智能导航决策, 智能取景

Abstract: As a kind of import deep space exploration tool, the lightweight and miniature robots with low resource occupancy and dexterous maneuverability are convenient for the deployment. The robots can execute surface exploration individually and expand exploration scope or collaborate to complete exploration or operations with other robots. In this paper, an autonomous intelligent mobile robot named Jinchan, is developed to lunar surface exploration and its technologies are presented. Jinchan robot has been applied successfully in Chang’e-6 lunar exploration mission, which took successfully the full body picture of the lander and the ascender’s assembly on lunar surface by autonomous intelligent environment perception, relative navigation, planning and decision making, and realized the first application of the new Artificial Intelligent technology to the deep space exploration field. The total mass of Jinchan robot is ouly 4.5 kg, so far it is the first,lightest and smallest autonomous intelligent mobile robot rover for extraterrestrial surface exploration and photography.

Key words: Chang’e-6, autonomous intelligence, miniature robot, intelligent perception, intelligent navigation, intelligent framing