An evaluation method and device for the sampleability of surface sampling terrain of extraterrestrial celestial bodies

Abstract

The present invention provides a method and device for evaluating the sampleability of the terrain for surface sampling of extraterrestrial celestial bodies, which can be used in the technical field of extraterrestrial celestial body sampling. The method includes: determining a sampling terrain analysis window adapted to the target sampling point according to the yaw angle of the robotic arm during simulated sampling at the target sampling point and the configuration of the sampling device, wherein the number of the sampling terrain analysis windows is at least two; determining the terrain characteristics of the perceptible area of the extraterrestrial celestial body under each sampling terrain analysis window according to the sampling terrain analysis window and the elevation terrain product of the perceptible area of the extraterrestrial celestial body; determining an evaluation value of the sampleability degree of the target sampling point according to the terrain characteristics of the perceptible area of the extraterrestrial celestial body under each sampling terrain analysis window. The device is used to execute the above method. The method and device for evaluating the sampleability of the terrain for surface sampling of extraterrestrial celestial bodies provided by the embodiments of the present invention can improve the accuracy of evaluating the sampleability degree of the target sampling point.

Description

Technical Field

[0001] The present invention relates to the technical field of terrain analysis, and particularly relates to a method and device for evaluating the sampleability of the surface sampling terrain of an extraterrestrial celestial body. Background Art

[0002] The rover detects the environment where it is located by carrying a surveillance camera, and transmits the images to the ground control center through a data transmission communication link. The ground operators complete the three-dimensional reconstruction of the environment where the rover is located based on computer vision technology, and determine the area for remote operation sampling and the proposed sampling points through the analysis of the constructed terrain. The sampler installed on the robotic arm of the rover completes the detection task.

[0003] The analysis of the sampling area and the determination of the proposed sampling points are the key to extraterrestrial celestial body sampling control and also the premise for controlling the robotic arm and the sampler. The sampler is generally shovel-shaped or claw-shaped. Due to the remote operation nature, if the interference between the terrain of the sampling point and the sampling device is not fully considered, it will cause irreparable damage to the sampler, which is directly related to the safety of the sampling device and will affect the execution of the entire sampling task. Secondly, the extraterrestrial sampling task is affected by the return task and the orbital window, and the working time of the sampling task is limited. During each sampling process, multi-point positioning is required. In order to efficiently complete the sampling task and obtain more samples without affecting the implementation of subsequent projects, it is necessary to evaluate the safety and suitability of the sampling points and make a reasonable plan. Based on these considerations, it is necessary for the operators to establish a comprehensive and in-depth terrain analysis process on the basis of receiving images and terrain reconstruction, accurately perform terrain analysis, and integrate various indicators for human-computer interaction.

[0004] The classic terrain analysis method is based on a fixed calculation window unit, and the calculation is carried out by moving the window horizontally and vertically along the coordinate axes on the constructed terrain, so as to quantitatively evaluate the sampleability. However, the accuracy of terrain analysis by this terrain analysis method is still not high enough. Summary of the Invention

[0005] Aiming at the problems in the prior art, the embodiments of the present invention provide a method and device for evaluating the sampleability of the surface sampling terrain of an extraterrestrial celestial body, which can at least partially solve the problems existing in the prior art.

[0006] On the one hand, the present invention provides a method for evaluating the sampleability of the terrain for surface sampling of extraterrestrial celestial bodies, including: determining a sampling terrain analysis window adapted to the target sampling point according to the yaw angle of the robotic arm when the sampling device simulates sampling at the target sampling point and the configuration of the sampling device, wherein the number of the sampling terrain analysis windows is at least two; determining the terrain characteristics of the perceptible area of the extraterrestrial celestial body under each sampling terrain analysis window according to the sampling terrain analysis window and the elevation terrain product of the perceptible area of the extraterrestrial celestial body; and determining the sampleability evaluation value of the target sampling point according to the terrain characteristics of the perceptible area of the extraterrestrial celestial body under each sampling terrain analysis window.

[0007] On the other hand, the present invention provides an apparatus for evaluating the sampleability of the terrain for surface sampling of extraterrestrial celestial bodies, including: a first determination module, configured to determine a sampling terrain analysis window adapted to the target sampling point according to the yaw angle of the robotic arm when the sampling device simulates sampling at the target sampling point and the configuration of the sampling device, wherein the number of the sampling terrain analysis windows is at least two; a second determination module, configured to determine the terrain characteristics of the perceptible area of the extraterrestrial celestial body under each sampling terrain analysis window according to the sampling terrain analysis window and the elevation terrain product of the perceptible area of the extraterrestrial celestial body; and a third determination module, configured to determine the sampleability evaluation value of the target sampling point according to the terrain characteristics of the perceptible area of the extraterrestrial celestial body under each sampling terrain analysis window.

[0008] In still another aspect, the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the program, the steps of the method for evaluating the sampleability of the terrain for surface sampling of extraterrestrial celestial bodies according to any one of the above embodiments are implemented.

[0009] In yet another aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for evaluating the sampleability of the terrain for surface sampling of extraterrestrial celestial bodies according to any one of the above embodiments are implemented.

[0010] The method and device for evaluating the sampleability of the surface sampling terrain of an extraterrestrial object provided by the embodiments of the present invention determine the position of the sampling terrain analysis window according to the yaw angle of the robotic arm when the sampling device simulates sampling at the target sampling point, where the number of the sampling terrain analysis windows is at least two, and the shape and size of each sampling terrain analysis window are determined according to the configuration of the sampling device; determine the terrain characteristics of the perceptible area of the extraterrestrial object under each sampling terrain analysis window according to the sampling terrain analysis window and the elevation terrain product of the perceptible area of the extraterrestrial object; determine the sampleability evaluation value of the target sampling point according to the terrain characteristics of the perceptible area of the extraterrestrial object under each sampling terrain analysis window. In this way, since the shape and size of each terrain analysis window are related to the configuration of the sampling device, and the position of each terrain analysis window is related to the position of the target sampling point, conducting terrain characteristic and sampling suitability analysis within each terrain analysis window can improve the correlation between terrain analysis and the configuration of the sampling device, and achieve a refined evaluation of the interaction between the terrain and the sampling device, thereby improving the accuracy of terrain analysis and further achieving a precise evaluation of the sampleability of the target sampling point. Description of the Drawings

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. In the drawings:

[0012] Figure 1 is a schematic flowchart of the method for evaluating the sampleability of the surface sampling terrain of an extraterrestrial object provided by an embodiment of the present invention.

[0013] Figure 2 is a partial schematic flowchart of the method for evaluating the sampleability of the surface sampling terrain of an extraterrestrial object provided by an embodiment of the present invention.

[0014] Figure 3 is a schematic diagram of the positional relationship between the sampling terrain analysis window and the sampling device provided by an embodiment of the present invention.

[0015] Figure 4 is a partial schematic flowchart of the method for evaluating the sampleability of the surface sampling terrain of an extraterrestrial object provided by an embodiment of the present invention.

[0016] Figure 5 is a partial schematic flowchart of the method for evaluating the sampleability of the surface sampling terrain of an extraterrestrial object provided by an embodiment of the present invention.

[0017] Figure 6 andFigure 7 , Figure 8 , Figure 9 are respectively schematic diagrams showing the relationship between the sampling direction of the sampler and the yaw slope angle.

[0018] Figure 10 is a schematic structural diagram of the sampler provided by an embodiment of the present invention.

[0019] Figure 11 is a schematic diagram showing the positional relationship between the target sampling point and Window 1 in an example of the present invention.

[0020] Figure 12 is a schematic diagram showing the positional relationship between the target sampling point and Window 2 in an example of the present invention.

[0021] Figure 13 is a component diagram of the surface sampling robotic arm provided in an example of the present invention.

[0022] Figure 14 is a schematic diagram of the coordinate system of the surface sampling robotic arm established in an example of the present invention.

[0023] Figure 15 is a schematic structural diagram of the extraterrestrial surface sampling terrain samplability evaluation device provided by an embodiment of the present invention.

[0024] Figure 16 is a schematic physical structure diagram of the electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer and more understandable, the following further describes the embodiments of the present invention in detail with reference to the accompanying drawings. Herein, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but not to limit the present invention. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined arbitrarily with each other.

[0026] The execution subject of the extraterrestrial surface sampling terrain samplability evaluation method provided by the embodiments of the present invention includes, but is not limited to, a computer.

[0027] Figure 1 is a schematic flowchart of the extraterrestrial surface sampling terrain samplability evaluation method provided by an embodiment of the present invention. As Figure 1 shown, the extraterrestrial surface sampling terrain samplability evaluation method provided by the embodiments of the present invention includes:

[0028] S101. Determine a sampling terrain analysis window adapted to the target sampling point according to the yaw angle of the robotic arm when the sampling device simulates sampling at the target sampling point and the configuration of the sampling device, where the number of the sampling terrain analysis windows is at least two;

[0029] In this step, the sampling device and the robotic arm are mounted on the rover detector. The sampling device is installed at the end of the robotic arm, and the sampling of the surface of an extraterrestrial celestial body by the sampling device can be achieved by controlling the movement of the robotic arm. The sampling device includes at least one sampler, for example, it includes a primary sampler and a backup sampler.

[0030] The shapes and sizes of the respective sampling terrain analysis windows are determined according to the configuration of the sampling device. The shapes and / or sizes of the sampling terrain analysis windows corresponding to sampling devices with different configurations are different. When the configuration of the sampling device is determined, the shape and size of each sampling terrain analysis window are also determined, and the shapes, sizes, and / or positions of the respective sampling terrain analysis windows are different.

[0031] S102. Determine the terrain characteristics of the perceivable area of the extraterrestrial celestial body under each sampling terrain analysis window according to the sampling terrain analysis window and the elevation terrain product of the perceivable area of the extraterrestrial celestial body;

[0032] In this step, the elevation terrain product of the perceivable area of the extraterrestrial celestial body can be obtained by the surveillance camera carried by the rover detector perceiving and imaging its surrounding environment, transmitting the image to the ground control center through a data transmission communication link, and the ground operators performing three-dimensional reconstruction on the environment where the rover detector is located based on computer vision technology. The target sampling points are obtained by traversing on the elevation terrain product. Each process of obtaining a target sampling point is essentially a process of using the coordinates of one pixel on the elevation terrain product as the coordinates of the target sampling point. Each pixel coordinate on the elevation terrain product can be traversed to evaluate its suitability as a target sampling point.

[0033] The terrain characteristics may include at least one of the following: slope, aspect, flatness. The determining of the terrain characteristics of the perceivable area of the extraterrestrial celestial body under each sampling terrain analysis window according to the sampling terrain analysis window and the elevation terrain product of the perceivable area of the extraterrestrial celestial body may specifically include: obtaining the pixels of the elevation terrain product of the perceivable area of the extraterrestrial celestial body under each sampling terrain analysis window, and calculating terrain characteristics such as the slope, aspect, and / or flatness of the surface of the extraterrestrial celestial body under each sampling terrain analysis window according to the pixels of the elevation terrain product of the perceivable area of the extraterrestrial celestial body under each sampling terrain analysis window.

[0034] S103. Determine the evaluation value of the suitability of the target sampling point according to the terrain characteristics of the perceivable area of the extraterrestrial celestial body under each sampling terrain analysis window.

[0035] In this step, since the areas of the extraterrestrial body terrain products enclosed by each sampling terrain analysis window are not exactly the same, the terrain characteristics of the perceptible areas of the extraterrestrial body under each sampling terrain analysis window are also not exactly the same. Therefore, the terrain characteristics of the perceptible areas of the extraterrestrial body under each sampling terrain analysis window can be comprehensively considered to determine the evaluation value of the workability of the target sampling point. For example, the terrain characteristic analysis calculation results and sampling suitability calculation results under different windows and different terrain characteristic indicators can be weighted and fitted to comprehensively analyze the evaluation value of the workability of the target sampling point, so that ground staff can comprehensively measure the selection of the sampling area and sampling point in combination with the original image, terrain quantization, and elevation value.

[0036] The method for evaluating the workability of surface sampling terrain of an extraterrestrial body provided by the embodiment of the present invention determines the position of the sampling terrain analysis window according to the yaw angle of the robotic arm when the sampling device simulates sampling at the target sampling point. Among them, the number of the sampling terrain analysis windows is at least two, and the shapes and sizes of the sampling terrain analysis windows are determined according to the configuration of the sampling device; according to the sampling terrain analysis window and the elevation terrain product of the perceptible area of the extraterrestrial body, determine the terrain characteristics of the perceptible area of the extraterrestrial body under each sampling terrain analysis window; according to the terrain characteristics of the perceptible area of the extraterrestrial body under each sampling terrain analysis window, determine the evaluation value of the workability of the target sampling point. In this way, since the shape and size of each terrain analysis window are related to the configuration of the sampling device, and the position of each terrain analysis window is related to the position of the target sampling point, the terrain characteristic and sampling suitability analysis carried out in each terrain analysis window can improve the correlation between the terrain analysis and the configuration of the sampling device, and realize the fine evaluation of the interaction between the terrain and the sampling device, thereby improving the accuracy of the terrain analysis, and further realizing the accurate evaluation of the workability of the target sampling point.

[0037] As Figure 2 shown, optionally, before the above step S101, the method may further include:

[0038] S104. Establish a model of the robotic arm according to the structure of the robotic arm;

[0039] In this step, the robotic arm is composed of a rotary joint (hinged member) and a connecting rod. The hinged member can be analogized to a cylinder and rotates around the cylinder axis. The yaw and pitch movements of the robotic arm are realized through the hinged member. The robotic arm is modeled by the DH modeling method. Take the intersection point of the common perpendicular of the axes of joint i and i + 1 and the axis of joint i as the coordinate origin, and the coordinate axis z i is collinear with the axis, and the coordinate axis x iCollinear with the common perpendicular line of the axes of joints i and i + 1 and pointing out from the axis, the three coordinate axes satisfy the right-hand rule. Respectively establish the base coordinate system of the table-taking sampling manipulator, the coordinate systems of each rotary joint, and the coordinate system of the sampling device.

[0040] S105. According to the established manipulator model, construct the relationship between the base coordinate system of the manipulator and the coordinate system of the sampling device;

[0041] In this step, based on the establishment of the manipulator coordinate system, deduce the forward kinematic relationship of the manipulator and construct the relationship between the base coordinate system of the manipulator and the coordinate system of the sampling device. The transformation matrix T between rotary joint i - 1 and rotary joint i is as follows:

[0042]

[0043] Among them, the twist angle α i-1 is the angle between the axis of joint i - 1 and the axis of joint i, the length a i-1 is the length of the common perpendicular line of the two axes, the rotation angle θ of joint i i is the angle between adjacent common perpendicular lines, and the offset d of joint i i is the difference between adjacent common perpendicular lines.

[0044] For a manipulator with n rotary joints, the relationship between rotary joint n and the base coordinate system is:

[0045]

[0046] The relationship between the coordinate system of the sampling device and the base coordinate system is:

[0047]

[0048] S106. According to the relationship between the base coordinate system of the manipulator and the coordinate system of the sampling device, calculate the yaw angle of the manipulator when the sampling device simulates sampling at the target sampling point.

[0049] In this step, according to the relationship between the base coordinate system of the manipulator and the coordinate system of the sampling device, deduce the inverse kinematic relationship of the manipulator and solve the yaw angle of the manipulator when the position of the known target sampling point is given.

[0050]

[0051] Among them, (p x , p y , p z ), are respectively the position and rotation relationship of the sampling device in the base coordinate system.

[0052] First, simplify the variables by multiplying with the inverse matrix. Multiply both sides of equation (4) by to obtain

[0053]

[0054] Expand the above formula, make the (2, 4) elements of the left and right formulas equal, introduce intermediate variables to simplify the equation, and based on the trigonometric function relationship, the joint angles can be solved, and then the yaw angle of the robotic arm can be obtained.

[0055] Optionally, the determining the sampling terrain analysis window adapted to the target sampling point according to the yaw angle of the robotic arm when the sampling device simulates sampling at the target sampling point and the configuration of the sampling device includes:

[0056] Rotate the sampling terrain analysis window pre-configured for the sampling device according to the yaw angle of the robotic arm when the sampling device simulates sampling at the target sampling point, to obtain a sampling terrain analysis window whose position is adapted to the position of the target sampling point, wherein the shape and size of the sampling terrain analysis window pre-configured for the sampling device are determined according to the configuration of the sampling device.

[0057] In this embodiment, the yaw angle of the robotic arm can be calculated in a pre-specified reference coordinate system. Specifically, the base coordinate system of the robotic arm can be used as the reference coordinate system; as Figure 3 shown (joint 4 is located in the sampling device and the ground contact disk, which is blocked in this figure), the position of the sampling terrain analysis window can be determined according to the position of the target sampling point. Since the sampling device is installed at the end of the robotic arm, the position of the sampling terrain analysis window can be solved according to the yaw angle of the robotic arm when it simulates sampling at the target sampling point.

[0058] Optionally, the sampling device includes at least one sampler; two types of sampling terrain analysis windows are respectively configured for each sampler. The shape and size of the first type of sampling terrain analysis window are determined according to the configuration of the sampling device, and the shape and size of the second type of sampling terrain analysis window are determined according to the envelope of the actual contact range with the ground when the sampler samples.

[0059] In this embodiment, due to the strong unknownness of the surface environment of extraterrestrial celestial bodies, the sampling duration is usually limited, and the terrain environment within the sampling range is directly related to the safety and sampling volume of the sampling device. Considering the above, it is particularly important to set the sampling terrain analysis window based on the configuration of the sampling device.

[0060] Specifically, when the sampling device includes multiple samplers, corresponding sampling terrain analysis windows are designed for each sampler according to its configuration. Specifically, when the sampling device includes a first sampler and a second sampler, for the first sampler, the maximum envelope of the projection of the sampling device on the horizontal plane of the reference coordinate system is used as the first type of sampling terrain analysis window of the first sampler, and the envelope of the range where the first sampler actually contacts the surface of the extraterrestrial body during sampling is used as the second type of sampling terrain analysis window of the first sampler; for the second sampler, the maximum envelope of the projection of the sampling device on the horizontal plane of the reference coordinate system is used as the first type of sampling terrain analysis window of the second sampler, and the envelope of the range where the second sampler actually contacts the surface of the extraterrestrial body during sampling is used as the second type of sampling terrain analysis window of the second sampler.

[0061] Optionally, when the sampling device includes a first sampler and a second sampler; rotating the sampling terrain analysis window pre-configured for the sampling device according to the yaw angle of the robotic arm during simulated sampling at the target sampling point to obtain a sampling terrain analysis window adapted to the position of the target sampling point includes:

[0062] Rotating the sampling terrain analysis window pre-configured for the first sampler according to the first yaw angle of the robotic arm during simulated sampling at the target sampling point by the first sampler to obtain a first sampling terrain analysis window adapted to the position of the target sampling point;

[0063] Rotating the sampling terrain analysis window pre-configured for the second sampler according to the second yaw angle of the robotic arm during simulated sampling at the target sampling point by the second sampler to obtain a second sampling terrain analysis window adapted to the position of the target sampling point.

[0064] In this embodiment, the first sampler and the second sampler can be backup for each other. When one of the samplers fails, the other sampler can be used to continue sampling. Due to the different installation positions and / or configurations of the first sampler and the second sampler, their positions in the sampling device are also different. When using different samplers to sample the target sampling point, the yaw angles of the robotic arm are also different. Therefore, in this embodiment, a corresponding sampling terrain analysis window is set for each type of sampler to make the sampling terrain analysis window of each sampler adapted to the sampler.

[0065] As Figure 4 shown, optionally, in the above embodiment, determining the terrain characteristics of the perceptible area of the extraterrestrial body under each sampling terrain analysis window according to the sampling terrain analysis window and the elevation terrain product of the perceptible area of the extraterrestrial body includes:

[0066] S1021. According to the first yaw angle of the robotic arm when the first sampler simulates sampling at the target sampling point, reversely rotate the elevation terrain product of the perceivable area of the extraterrestrial celestial body and the first sampling terrain analysis window to obtain a first target elevation terrain product and a first target sampling terrain analysis window;

[0067] In this step, when the first sampler is in the initial position, the four boundary lines of the sampling terrain analysis window adapted to the first sampler are respectively parallel to the x and y axes in the reference coordinate system; since in the above embodiment, the sampling terrain analysis window adapted to the first sampler is rotated according to the first yaw angle of the robotic arm when the first sampler simulates sampling at the target sampling point, that is, there is an inclination angle between the boundary lines of the first sampling terrain analysis window and the x and y axes, which is not convenient for calculating the terrain within the first sampling terrain analysis window. Therefore, the elevation terrain product and the first sampling terrain analysis window can be reversely rotated simultaneously according to the first yaw angle, so that the boundary lines of the first target sampling terrain analysis window obtained after rotation are respectively parallel to the x and y axes in the reference coordinate system, thereby facilitating the calculation of the terrain characteristics falling within the first target sampling terrain analysis window.

[0068] The elevation terrain product of the perceivable area of the extraterrestrial celestial body is established in the reference coordinate system. When the sampling device includes a first sampler and a second sampler, it is necessary to respectively simulate the first sampler and the second sampler sampling at the target sampling point. Since the installation positions of the first sampler and the second sampler on the rover are different, the yaw angles of the robotic arms of the first sampler and the second sampler are also different when sampling the same target sampling point. Therefore, in the reference coordinate system, it is necessary to reversely rotate the elevation terrain product of the perceivable area of the extraterrestrial celestial body and the first sampling terrain analysis window around the z-axis according to the first yaw angle of the robotic arm when the first sampler simulates sampling at the target sampling point; and rotate the elevation terrain product of the perceivable area of the extraterrestrial celestial body and the second sampling terrain analysis window around the z-axis according to the second yaw angle of the robotic arm when the second sampler simulates sampling at the target sampling point.

[0069] Specifically, rotating the elevation terrain product of the perceivable area of the extraterrestrial celestial body means rotating the pixel coordinates of the elevation terrain product of the perceivable area of the extraterrestrial celestial body:

[0070] After the surveillance camera carried by the roving detector acquires an image, the point cloud in the camera coordinate system is resolved. An elevation terrain model of the sampling area in the north-east-earth coordinate system is established through calculation. The elevation terrain model in the north-east-earth coordinate system is converted to the reference coordinate system to obtain the elevation terrain product of the perceivable area of the extraterrestrial body. The elevation terrain product is discretized, and each pixel (x, y) is regarded as a unit, and each pixel is marked with an elevation value. In three-dimensional space, the three-dimensional point is represented by homogeneous coordinates [x, y, z, 1]. The homogeneous coordinate point [x, y, z, 1] is transformed into a new homogeneous coordinate point [x', y', z', 1] through the transformation matrix T, that is:

[0071] [x y z 1]T = [x'y'z'1] (6)

[0072] Among them, the transformation matrix T is as follows. The upper left 3×3 matrix is used to represent rotation, scale, etc. The lower left 1×3 matrix is used to represent translation transformation. The upper right 3×1 matrix is used to represent perspective transformation. The lower right 1×1 matrix is used to represent full-scale transformation.

[0073]

[0074] Rotate the elevation terrain model around the z-axis:

[0075]

[0076] Its transformation matrix T is:

[0077]

[0078] Under different windows, rotate the pixels of the elevation terrain product according to the corresponding yaw angle θ.

[0079] S1022. Determine the terrain characteristics of the perceivable area of the extraterrestrial body under the first target sampling terrain analysis window according to the first target sampling terrain analysis window and the first target elevation terrain product.

[0080] In this step, the calculation of terrain characteristics (terrain analysis indicators) is carried out in the first target sampling terrain analysis window, and the slope, aspect, flatness, etc. of the terrain are calculated.

[0081] 1. First, through the least squares method, solve the fitting plane of the pixels of the first target elevation terrain product within the range of each first target sampling terrain analysis window.

[0082] Specifically, let the fitting plane equation be:

[0083] Ax + By + Cz + D = 0, (C ≠ 0) (10)

[0084] That is:

[0085]

[0086] Let Then:

[0087] z = a1x + a2y + a3 (12)

[0088] Using the n points (x i , y i , z i ) within the calculation window, i = 1, …, n, to fit and calculate the above plane equation, then minimize the following formula:

[0089]

[0090] It should satisfy: k = 1, 2, 3, that is:

[0091]

[0092] After arrangement:

[0093]

[0094] Rewrite it in matrix form:

[0095]

[0096] Solve the above linear equations to obtain: a1, a2, a3, and the fitted plane equation: z = a1x + a2y + a3 is what we want.

[0097] 2. The calculation of the slope is the dihedral angle formed by the fitted plane and the horizontal plane (xoy plane). The steeper the slope, the greater the slope, and vice versa for flatness. Let the normal vector of the above fitted plane be Take the normal vector of the reference coordinate system xoy plane as The slope angle β should be:

[0098]

[0099] 3. The slope direction is the projection of the slope normal on the horizontal plane, pointing in the direction from high to low of the slope. The numerical representation of the slope direction is the angle between the projection of the slope normal on the horizontal plane (xoy plane) and the unit vector of the projection starting direction (x-axis direction). Sampling is more favorable when the sampler faces the uphill direction. The numerical representation of the slope direction should be γ as:

[0100]

[0101] 4. The flatness is calculated as the average distance from all pixels within the window to the fitted plane. The smaller this value, the flatter the terrain within the window; conversely, the more uneven the terrain. The flatness η should be:

[0102]

[0103] Optionally, in the above embodiment, determining the terrain characteristics of the extraterrestrial body's perceptible area under each sampling terrain analysis window based on the sampling terrain analysis window and the elevation terrain product of the extraterrestrial body's perceptible area may include:

[0104] S1023. According to the second yaw angle of the robotic arm during simulated sampling at the target sampling point by the second sampler, reversely rotate the elevation terrain product of the extraterrestrial body's perceptible area and the second sampling terrain analysis window to obtain a second target elevation terrain product and a second target sampling terrain analysis window;

[0105] The specific execution process of this step is similar to that of step S1021 above and will not be elaborated here.

[0106] S1024. Determine the terrain characteristics of the extraterrestrial body's perceptible area under the second sampling terrain analysis window based on the second target sampling terrain analysis window and the second target elevation terrain product.

[0107] The specific execution process of this step is similar to that of step S1022 above and will not be elaborated here.

[0108] It should be understood that this embodiment does not limit the execution order between step S1021 and step S1023. The two steps can be executed simultaneously or successively, but step S1022 needs to be executed after step 1021. Similarly, step S1024 needs to be executed after step S1023.

[0109] As Figure 5 shown, optionally, in the above embodiment, determining the assessable value of the collectability of the target sampling point based on the terrain characteristics of the extraterrestrial body's perceptible area under each sampling terrain analysis window includes:

[0110] S1031. Determine the yaw slope angle of the sampler according to the slope direction of the extraterrestrial body's perceptible area under the second type of sampling terrain analysis window and the sampling direction of the sampler. The yaw slope angle is the included angle between the reverse slope direction of the slope direction and the projection of the sampler's sampling direction on the horizontal plane;

[0111] In this step, after terrain analysis, the relationship between the sampler at the end of the robotic arm and the terrain was also analyzed. Specifically, the concept of the yaw slope aspect angle was established to quantify the relationship between the end sampler and the terrain where the target sampling point is located, and the terrain suitability assessment was completed.

[0112] Let the sampling direction vector of the sampler be The normal vector of the horizontal plane is The included angle between the two vectors is:

[0113]

[0114] The included angle between the sampling direction vector of the sampler and the horizontal plane is:

[0115]

[0116] When going uphill, when sampling along the slope, the alpha angle is equal to the slope angle, and when sampling in the cross-slope aspect, the alpha angle is approximately equal to 0°. When the terrain is unknown, the alpha angle cannot intuitively reflect the relationship between the sampler and the ground.

[0117] To better quantify the relationship between sampling and the terrain, this embodiment proposes the concept of the yaw slope aspect angle. The definition of the yaw slope aspect angle is the included angle between the inverse slope direction of the sampling window and the vector of the projection of the sampling direction vector on the horizontal plane. As Figure 6 shown, when going uphill, when the sampler samples along the slope, the yaw slope aspect angle is 0°, which is the best sampling direction; as Figure 8 shown, when sampling in the cross-slope aspect, the yaw slope aspect angle is equal to 90°; as Figure 7 shown, when sampling between the along-slope and cross-slope aspects, the value of the yaw slope aspect angle is in the range of 0° and 90°; as Figure 9 shown, when sampling in the opposite direction of the along-slope, the yaw slope aspect angle is equal to 180°. Sampling is facilitated when the yaw slope aspect angle is small.

[0118] Let the sampling direction vector of the sampler be The inverse slope direction vector is where the slope direction vector is (1, tanγ, 0), and correspondingly Then the yaw slope aspect angle is:

[0119]

[0120]

[0121] S1032. Determine the assessable value of the collectability of the target sampling point according to the yaw slope aspect angle and the terrain characteristics of the perceptible area of the extraterrestrial celestial body under the first type of sampling terrain analysis window.

[0122] In this step, after obtaining the calculation results of multiple channels such as slope, flatness, and yaw slope angle, the terrain analysis calculation results and the calculation results of sampling suitability under different windows and different indicators are weighted and fitted. For example, let the weight parameters of slope, flatness, and yaw slope angle be k β , k γ , k η , the evaluation value K of the mineable degree of the terrain is:

[0123]

[0124] After obtaining the evaluation value K of the mineable degree of the target sampling point, the ground personnel can comprehensively measure the selection of the sampling area and sampling points by combining the original image, terrain quantization, elevation value, and terrain analysis indicators.

[0125] To better understand the present invention, the following further describes in detail the method for evaluating the sample-ability of the terrain for surface sampling on extraterrestrial celestial bodies provided by the present invention in combination with the manipulator configuration and sampling device design of the example. It should be noted that the following specific implementation manners are only used for further explanation of the present invention and should not be construed as limiting the protection scope of the present invention. Those of ordinary skill in the art can make some non-essential improvements and adjustments to the present invention according to the above-mentioned invention content.

[0126] The specific implementation process of this example mainly includes the following steps:

[0127] Step 1: Determine the terrain analysis window according to the configuration of the sampler.

[0128] In this example, the sampler configuration is as Figure 10 shown: The manipulator carries sampler A, sampler B, and a ground contact disc. Among them, sampler A is the main sampler, and sampler B is the backup of sampler A. The sampling method of sampler A is shovel-shaped, and the sampling method of sampler B is claw-shaped. Sampler A and sampler B are attached to one side of the rotary joint, and the ground contact disc is attached to the other side of the rotary joint. The parameter definitions of sampler A, sampler B, the rotary joint, and the ground contact disc are as Figure 10 shown.

[0129] In this example, four terrain analysis windows are set. Among them, the setting method of window 1 is based on the sampler configuration. The size of the selected window is to envelope the projection of the sampling device on the horizontal plane: Equivalent sampler A and sampler B to a straight line, and the rotary joint connecting the ground contact disc to a straight line. Set the size of window 1 as the maximum envelope of the sampling device, that is:

[0130] Window 1: (l 采样器甲长 +l 采样器乙长 )×(w 采样器宽度 +w 回转关节长 +w 触地圆盘厚度) (25)

[0131] Take the upward value according to the calculation method in Equation (22) as the size of Window 1. When Sampler A samples, the position of the target sampling point in the set Window 1 is as Figure 11 shown. In this example, when the robotic arm has no yaw angle, the equivalent straight lines of Samplers A and B are parallel to the x-axis direction. During the actual sampling process, for different target sampling points, the robotic arm configurations may have different yaw angles θ1, and Window 1 also rotates by an angle θ1 around the z-axis in the base coordinate system.

[0132] Among them, the calculation methods of the envelopes of Window 2 and Window 1 are the same. Based on the sampler configuration in the example, specifically, when Sampler B samples, the position of the target sampling point in the set Window 2 is as Figure 12 shown. Similarly, when the robotic arm has a yaw angle θ2, Window 2 also rotates by an angle θ2 around the z-axis in the base coordinate system.

[0133] Among them, Window 3 is the envelope of the actual ground contact range when Sampler A samples, and it takes the rectangular envelope of the rocker shovel's length and width.

[0134] Among them, Window 4 is the envelope of the actual ground contact range when Sampler B samples, and it takes the circular envelope of the grasping area.

[0135] Step 2: Model the robotic arm using the DH method.

[0136] Take the sampling robotic arm with four revolute joints (hinged members) and two linkages as an example. The components of the sampling robotic arm are as Figure 13 shown, where the hinged member can rotate around the cylindrical axis. The yaw movement of the robotic arm can be achieved by the rotation of Hinged Member 1, and the pitch movement of the robotic arm can be achieved by the rotations of Hinged Members 2, 3, and 4.

[0137] Take the intersection of the common perpendicular of the axes of Joint i and i + 1 and the axis of Joint i as the coordinate origin, with the z i axis collinear with the axis, and the x i axis collinear with the common perpendicular of the axes of Joint i and i + 1 and pointing out from the axis to establish the DH coordinate system as Figure 14 shown, where the base coordinate system is x0y0z0, the coordinate system of Joint 1 is x1y1z1, the coordinate system of Joint 2 is x2y2z2, the coordinate system of Joint 3 is x3y3z3, the coordinate system of Joint 4 is x4y4z4, and the coordinate system of the sampler is x e y e z e .

[0138] Step 3: Deduce the forward kinematic relationship of the robotic arm in the DH coordinate system.

[0139] In this example, the coordinate system of joint 1 is equivalent to the base coordinate system x b y b z b The transformation matrices of the coordinate system of joint 2 equivalent to the coordinate system of joint 1, the coordinate system of joint 3 equivalent to the coordinate system of joint 2, and the coordinate system of joint 4 equivalent to the coordinate system of joint 3 are respectively:

[0140]

[0141] where θ1 is the yaw angle of joint 1, and θ2, θ3, and θ4 are the pitch angles of joints 2, 3, and 4 respectively. In this example, the yaw angle θ of the robotic arm is θ1; d1, d2, d3, and d4 are the offsets of joints 1, 2, 3, and 4 respectively, and the offset d i of joint i is the difference between the corresponding common perpendiculars between the links of joint i.

[0142] The coordinate system of the sampler x e y e z e The transformation matrix relative to the coordinate system of joint 4 is:

[0143]

[0144] where a4 is the effective length of the sampler.

[0145] By multiplying the transformation matrices successively, the transformation matrix of the sampler coordinate system equivalent to the base coordinate system is obtained as:

[0146] The transformation matrix is composed of the rotation matrix and the coordinates of the sampler in the base coordinate system, where the rotation matrix is:

[0147]

[0148] Step 4: Derive the inverse kinematic relationship in the DH coordinate system to solve the yaw angle of the robotic arm when the position of the end sampler (i.e., the position of the target sampling point) is known.

[0149] In this example, it is assumed that the position of the known target sampling point is (p x , p y , p z ). The pose of the sampler satisfies the following equation:

[0150] p x sinθ1 - p y cosθ1 = d1 + d2 + d3 (30)

[0151] When the slope angle is

[0152] The above formula can be transformed into:

[0153]

[0154] It can be solved that:

[0155]

[0156] The quadrant where the θ value is located is determined by p x , p y , and its magnitude is obtained by solving the joint rotation angle θ1.

[0157] Step Five: Rotate the elevation terrain product based on the yaw angle of the robotic arm.

[0158] In the example, after calculating the yaw angle of the robotic arm through the target sampling point coordinates, Windows 1 and 2 are set to the styles after the rectangular border in Step One rotates around the z-axis by θ1. After the camera acquires the image, an elevation terrain product of the perceptible area of the extraterrestrial celestial body in the base coordinate system is established, and the terrain product is traversed according to different target sampling points and the corresponding windows. Since the window has an inclination angle and it is inconvenient to perform calculations within the window, the pixel coordinates of the elevation terrain product are rotated so that the x and y axes at the edge of the terrain analysis window are parallel.

[0159] The elevation terrain product is regarded as consisting of discrete (x, y) units, and each unit has its corresponding elevation value. Rotate the elevation terrain product around the Z axis:

[0160]

[0161] After rotating the elevation terrain product according to the corresponding yaw angle, perform the corresponding calculations.

[0162] Step Six: Calculation of slope, aspect, flatness, and yaw aspect angle.

[0163] First, solve the fitting plane of the elevation terrain pixels within the window range. The calculation of the slope is the dihedral angle between the fitting plane and the horizontal plane. The calculation of the aspect is the angle between the projection of the slope normal on the plane and the unit vector in the direction of the projection starting point (X-axis direction). The calculation of the flatness is the average value of the distances from all pixels within the window range to the fitting plane. The calculation of the yaw aspect angle is the angle between the inverse slope direction of the sampling window and the vector of the projection of the sampling direction vector of the end effector on the horizontal plane.

[0164] Among them, the terrain feature analysis part is based on the first type of sampling terrain analysis window, which has a large coverage area and more complete terrain features; the sampling suitability analysis is based on the second type of sampling terrain analysis window, which is the part where the sampler actually contacts the extraterrestrial body, and more clearly describes the relationship between the sampler and the part that actually contacts the extraterrestrial body, realizing a refined evaluation method for the sampling area analysis.

[0165] Step 7: Comprehensive consideration of the perceivable area and sampling points.

[0166] In this example, the weight parameters of slope, flatness, and yaw slope angle are set to 0.3, 0.3, and 0.4, and the mineability K of the terrain is described as:

[0167]

[0168] In the comprehensive terrain mineability channel, ground staff can intuitively identify the mineable area, and can perform a review calculation on the selection of the sampling area and sampling points according to the need by combining the original image, terrain quantization, and single-item terrain analysis indicators.

[0169] Figure 15 It is a schematic structural diagram of an extraterrestrial body surface sampling terrain mineability evaluation device provided by an embodiment of the present invention. As Figure 15 shown, the extraterrestrial body surface sampling terrain mineability evaluation device provided by the embodiment of the present invention includes:

[0170] A first determination module 21, configured to determine a sampling terrain analysis window adapted to the target sampling point according to the yaw angle of the robotic arm when the sampling device simulates sampling at the target sampling point and the configuration of the sampling device, where the number of the sampling terrain analysis windows is at least two; a second determination module 22, configured to determine the terrain characteristics of the extraterrestrial body perceivable area under each sampling terrain analysis window according to the sampling terrain analysis window and the elevation terrain product of the extraterrestrial body perceivable area; a third determination module 23, configured to determine the mineability evaluation value of the target sampling point according to the terrain characteristics of the extraterrestrial body perceivable area under each sampling terrain analysis window.

[0171] The device for evaluating the sample-ability of the surface sampling topography provided by the embodiment of the present invention determines the position of the sampling topography analysis window according to the yaw angle of the robotic arm during simulated sampling at the target sampling point. Among them, the number of the sampling topography analysis windows is at least two, and the shapes and sizes of the sampling topography analysis windows are determined according to the configuration of the sampling device; according to the sampling topography analysis windows and the elevation topography product of the perceptible area of the extraterrestrial body, the topographic characteristics of the perceptible area of the extraterrestrial body under each sampling topography analysis window are determined; according to the topographic characteristics of the perceptible area of the extraterrestrial body under each sampling topography analysis window, the evaluation value of the sample-ability of the target sampling point is determined. In this way, since the shape and size of each topography analysis window are related to the configuration of the sampling device, and the position of each topography analysis window is related to the position of the target sampling point, the analysis of topographic characteristics and sampling suitability in each topography analysis window can improve the correlation between topographic analysis and the configuration of the sampling device, and achieve a fine evaluation of the interaction between the topography and the sampling device, thereby improving the accuracy of topographic analysis and further realizing the accurate evaluation of the sample-ability of the target sampling point.

[0172] The embodiments of the device provided by the embodiments of the present invention can be specifically used to execute the processing procedures of the above method embodiments, and their functions will not be described in detail here. Reference can be made to the detailed descriptions of the above method embodiments.

[0173] Figure 16 It is a schematic physical structure diagram of an electronic device provided by an embodiment of the present invention, as Figure 16 shown. The electronic device may include: a processor 301, a communication interface 302, a memory 303, and a communication bus 304. Among them, the processor 301, the communication interface 302, and the memory 303 communicate with each other through the communication bus 304. The processor 301 can call the logical instructions in the memory 303 to execute the method described in any of the above embodiments.

[0174] In addition, when the logical instructions in the above-mentioned memory 303 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0175] This embodiment discloses a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the methods provided in the above-mentioned method embodiments.

[0176] This embodiment provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. The computer program causes the computer to execute the methods provided in the above-mentioned method embodiments.

[0177] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0178] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of flows and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0179] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to work in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one or more of the processes and / or blocks Figure 1 in one or more of the processes and / or blocks Figure 1 specified in the flowchart.

[0180] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more of the processes and / or blocks Figure 1 in one or more of the processes and / or blocks Figure 1 specified in the flowchart.

[0181] In the description of this specification, the descriptions with reference to the terms "one embodiment", "a specific embodiment", "some embodiments", "for example", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0182] The specific embodiments described above further elaborate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An evaluation method for the sampleability of the terrain on the surface of an extraterrestrial celestial body, characterized in that Including: Determine a sampling terrain analysis window adapted to the target sampling point according to the yaw angle of the robotic arm and the configuration of the sampling device during simulated sampling at the target sampling point, where the number of the sampling terrain analysis windows is at least two; Determine the terrain characteristics of the perceptible area of the extraterrestrial body under each sampling terrain analysis window according to the sampling terrain analysis window and the elevation terrain product of the perceptible area of the extraterrestrial body; Determine the assessable value of the collectability of the target sampling point according to the terrain characteristics of the perceptible area of the extraterrestrial body under each sampling terrain analysis window; Wherein, The sampling device includes at least one sampler; each sampler is respectively configured with two types of sampling terrain analysis windows. The shape and size of the first type of sampling terrain analysis window are determined according to the configuration of the sampling device, and the shape and size of the second type of sampling terrain analysis window are determined according to the envelope of the actual contact range with the ground during sampling by the sampler; The determining the assessable value of the collectability of the target sampling point according to the terrain characteristics of the perceptible area of the extraterrestrial body under each sampling terrain analysis window includes: Determine the yaw slope angle of the sampler according to the slope direction of the perceptible area of the extraterrestrial body under the second type of sampling terrain analysis window and the sampling direction of the sampler, where the yaw slope angle is the included angle between the reverse slope direction of the slope direction and the projection of the sampling direction of the sampler on the horizontal plane; Determine the assessable value of the collectability of the target sampling point according to the yaw slope angle and the terrain characteristics of the perceptible area of the extraterrestrial body under the first type of sampling terrain analysis window.

2. The method according to claim 1, wherein The determining the sampling terrain analysis window adapted to the target sampling point according to the yaw angle of the robotic arm and the configuration of the sampling device during simulated sampling at the target sampling point includes: Rotate the sampling terrain analysis window pre-configured for the sampling device according to the yaw angle of the robotic arm during simulated sampling at the target sampling point to obtain a sampling terrain analysis window with a position adapted to the position of the target sampling point, where the shape and size of the sampling terrain analysis window pre-configured for the sampling device are determined according to the configuration of the sampling device.

3. The method according to claim 1, wherein The sampling device includes a first sampler and a second sampler; The rotating the sampling terrain analysis window pre-configured for the sampling device according to the yaw angle of the robotic arm during simulated sampling at the target sampling point to obtain a sampling terrain analysis window with a position adapted to the position of the target sampling point includes: Rotate the sampling terrain analysis window pre-configured for the first sampler according to the first yaw angle of the robotic arm during simulated sampling at the target sampling point by the first sampler to obtain a first sampling terrain analysis window with a position adapted to the position of the target sampling point; or Rotate the sampling terrain analysis window pre-configured for the second sampler according to the second yaw angle of the robotic arm during simulated sampling at the target sampling point by the second sampler to obtain a second sampling terrain analysis window with a position adapted to the position of the target sampling point.

4. The method according to claim 3, wherein Determining the terrain characteristics of the perceptible area of the extraterrestrial object under each of the sampling terrain analysis windows based on the elevation terrain product of the sampling terrain analysis window and the perceptible area of the extraterrestrial object includes: According to the first yaw angle of the robotic arm during simulated sampling at the target sampling point by the first sampler, reversely rotating the elevation terrain product of the perceptible area of the extraterrestrial object and the first sampling terrain analysis window to obtain a first target elevation terrain product and a first target sampling terrain analysis window; Determining the terrain characteristics of the perceptible area of the extraterrestrial object under the first target sampling terrain analysis window according to the first target sampling terrain analysis window and the first target elevation terrain product; or According to the second yaw angle of the robotic arm during simulated sampling at the target sampling point by the second sampler, reversely rotating the elevation terrain product of the perceptible area of the extraterrestrial object and the second sampling terrain analysis window to obtain a second target elevation terrain product and a second target sampling terrain analysis window; Determining the terrain characteristics of the perceptible area of the extraterrestrial object under the second target sampling terrain analysis window according to the second target sampling terrain analysis window and the second target elevation terrain product.

5. The method according to any one of claims 1 to 4, characterized in that, The terrain characteristics include at least one of the following: slope, aspect, flatness.

6. An apparatus for evaluating the sampleability of a sampling terrain on the surface of an extraterrestrial object, characterized in that, Including: A first determination module, configured to determine a sampling terrain analysis window adapted to the target sampling point according to the yaw angle of the robotic arm during simulated sampling at the target sampling point by the sampling device and the configuration of the sampling device, where the number of the sampling terrain analysis windows is at least two; A second determination module, configured to determine the terrain characteristics of the perceptible area of the extraterrestrial object under each of the sampling terrain analysis windows according to the sampling terrain analysis window and the elevation terrain product of the perceptible area of the extraterrestrial object; A third determination module, configured to determine an evaluable value of the workability of the target sampling point according to the terrain characteristics of the perceptible area of the extraterrestrial object under each of the sampling terrain analysis windows; Wherein, The sampling device includes at least one sampler; each sampler is respectively configured with two types of sampling terrain analysis windows. The shape and size of the first type of sampling terrain analysis window are determined according to the configuration of the sampling device, and the shape and size of the second type of sampling terrain analysis window are determined according to the envelope of the actual contact range of the ground during sampling by the sampler; The third determination module is specifically configured to: Determine the yaw aspect angle of the sampler according to the aspect of the perceptible area of the extraterrestrial object under the second type of sampling terrain analysis window and the sampling direction of the sampler, where the yaw aspect angle is the included angle between the reverse slope of the aspect and the projection of the sampling direction of the sampler on the horizontal plane; Determine the evaluable value of the workability of the target sampling point according to the yaw aspect angle and the terrain characteristics of the perceptible area of the extraterrestrial object under the first type of sampling terrain analysis window.

7. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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