An extraterrestrial celestial body detection sampling area workability assessment method, a medium and an apparatus

A technology for sampling areas and celestial bodies, which is applied in the field of recoverability evaluation of extraterrestrial celestial body detection sampling areas, can solve problems such as difficulty in effective sampling, achieve the effect of reducing burden and improving implementation efficiency

Active Publication Date: 2018-09-14
中国人民解放军63920部队
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Problems solved by technology

[0003] The present invention aims at the problem that it is difficult to sample effectively due to the unknown terrain environment and the uncertainty of sampling objects in the sampling task of extraterrestrial celestial bodies, and provides a method, medium and equipment for evaluating the recoverability of sampling areas for extraterrestrial celestial bodies

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  • An extraterrestrial celestial body detection sampling area workability assessment method, a medium and an apparatus
  • An extraterrestrial celestial body detection sampling area workability assessment method, a medium and an apparatus
  • An extraterrestrial celestial body detection sampling area workability assessment method, a medium and an apparatus

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Embodiment Construction

[0019] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and examples are only used to explain the present invention, and are not intended to limit the scope of the present invention.

[0020] figure 1 A flow chart of a method for assessing the recoverability of a sampling area for extraterrestrial celestial body detection provided by an embodiment of the present invention, as shown in figure 1 As shown, the method includes the following steps:

[0021] 110. According to the digital elevation model DEM image of the sampling area, calculate the flatness, slope, and aspect of the sampling point in the sampling area.

[0022] The following describes the calculation process of flatness, slope and aspect respectively.

[0023] 1. Calculation of flatness

[0024] Using the DEM image of the sampling area, according to a certain window size, carry out plane fitting on all pixels in the calculation window of the D...

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Abstract

The invention provides an extraterrestrial celestial body detection sampling area workability assessment method, a medium and an apparatus. The method comprises the steps of: calculating the flatness,the slope and the aspect of a sampling point; judging whether the sampling point exceeds a pose limit of a manipulator; judging whether the sampling point is in a working space of the manipulator; judging whether the manipulator interferes with itself or a lander; according to the flatness of the sampling point and the judging results of the above-mentioned steps, calculating the workability parameters of the sampling point. The extraterrestrial celestial body detection sampling area workability assessment method is based on the combination of the principles of photogrammetry and the robot modeling control technology, takes factors such as the flatness and the accessibility of a sampling area and the safety of manipulators into full consideration, and quantizes the influence of each factor with values to obtain the workability parameters of each sampling point, thereby enabling ground operators to select sampling points conveniently, reducing the load of operating state analysis of the operators to a great extent and increasing the implementation efficiency of sampling area analysis.

Description

technical field [0001] The invention relates to the principle of photogrammetry and robot modeling control technology, in particular to a method, medium and equipment for assessing the recoverability of sampling areas for extraterrestrial celestial body detection. Background technique [0002] The extraterrestrial object sampling mission refers to the collection of soil, rock and other samples from celestial bodies other than the earth and brings them back to the earth for scientific research and analysis. It aims to help human beings explore the distribution of space resources and understand the origin and evolution history of extraterrestrial objects. At present, major aerospace organizations such as the United States, Russia, Japan, and Europe have successfully implemented multiple sampling and return missions. Since my country officially launched the lunar exploration project in 2004, it has successfully realized the key technologies of "circling" and "falling" on the mo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/06G06F17/16B25J11/00
CPCB25J11/00G06F17/16G06Q10/0639
Inventor 王晓雪刘传凯王镓谢剑锋张子宁王保丰马传令薛栋娥万文辉
Owner 中国人民解放军63920部队
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