State identification method for lunar probe drilling and production system

Abstract

The invention discloses a lunar probe drilling system state identification method, and relates to the technical field of deep space sampling detection. In order to solve the technical problems of limited sensing resources and lower telemetering data transmission frequency in the state identification work of the existing lunar probe drilling and production system, the technical scheme provided by the invention comprises the following steps of: acquiring load and state data characteristics of each non-nominal working condition; the load and the state generated in the simulation drilling experiment process are collected to serve as non-standard data; establishing a non-nominal working condition characteristic database according to the non-standard data; establishing a system state identification process based on the feature database and the non-standard data; collecting operation process load and state telemetry data sent by the on-orbit detector as operation data; according to the operation data, characteristic values of the drilling pressure and the torque load data are obtained and serve as operation characteristic values; and inputting the operation characteristic values in a period of time into a system state identification process to obtain a current operation condition. The method is suitable for state identification work of a lunar probe drilling and production system.

Description

Technical Field

[0001] The invention relates to the field of deep space sampling detection technology and to the state identification of the drilling and mining system of a lunar probe. Background Art

[0002] Compared with Earth operations, the lunar sampling and exploration mission is limited by the differences in the Earth-Moon environment, payload mass, and operation time, and has higher requirements for system safety. The drill is not only a direct tool for obtaining lunar soil samples, but also a probe for detecting the physical and chemical properties of lunar soil materials and obtaining lunar soil profile sequence information. Therefore, the probe drilling and sampling system needs to have strong adaptability to different drilling conditions while ensuring safety, so as to achieve a greater detection and sampling depth, thereby obtaining more dimensional lunar soil profile samples and information. However, the lunar soil profile is unknown and highly random. Due to the limitations of the space-ground communication bandwidth and probe payload, the sensing resources are limited and the telemetry data transmission frequency is low. In this context, how to ensure system safety is the key to the success of the sampling mission. The prediction and identification of the system status during the unmanned autonomous drilling and sampling operation on the moon helps ground personnel make targeted decisions and controls, and plays a decisive role in the smooth implementation of the lunar sampling and return mission.

[0003] There is no method for identifying the state of a lunar probe drilling system in the prior art. Summary of the invention

[0004] In order to solve the technical problems existing in the prior art, in the existing lunar probe drilling system state identification work, the lunar soil profile is unknown and has great randomness, the space-ground communication bandwidth and probe load are limited, the sensor resources are limited, and the telemetry data transmission frequency is low, the technical solution provided by the present invention is:

[0005] A method for calculating the state identification of a lunar probe drilling system, comprising:

[0006] The steps of collecting the load and status data characteristics of each non-nominal working condition during the operation of the detector;

[0007] The step of collecting the load and state generated during the simulated drilling experiment of each non-standard working condition as non-standard data;

[0008] A step of establishing a non-standard operating condition characteristic database according to the non-standard data;

[0009] A step of establishing a system status identification process based on the feature database and the non-standard data;

[0010] The step of collecting the operation process load and status telemetry data sent by the on-orbit probe as the operation data;

[0011] A step of obtaining characteristic values ​​of drilling pressure and torque load data as operation characteristic values ​​according to the operation data;

[0012] The operation characteristic values ​​within a period of time are input into the system state identification process to obtain the steps of the current operation condition.

[0013] Furthermore, a preferred embodiment is provided, wherein the non-standard data includes: particle stuck drill condition, rock condition, poor soil discharge condition and pull-up drilling condition.

[0014] Furthermore, a preferred implementation is provided, in which normalization and filtering are performed on the non-standard data to establish a non-standard operating condition feature database.

[0015] Furthermore, a preferred implementation manner is provided, in which the simulated drilling experiment of non-nominal working conditions is: conducting simulated drilling experiments of various non-nominal working conditions on a ground full-process drilling test bench with 1 / 6 of the ground gravity.

[0016] Based on the same inventive concept, the present invention also provides a lunar probe drilling system state identification and calculation device, comprising:

[0017] A module for collecting load and status data characteristics of various non-nominal working conditions during the operation of the detector;

[0018] A module that collects the loads and states generated during the simulated drilling experiment under various non-standard working conditions as non-standard data;

[0019] A module for establishing a non-standard operating condition characteristic database according to the non-standard data;

[0020] A module for establishing a system status identification process based on the feature database and the non-standard data;

[0021] A module that collects the operation process load and status telemetry data sent by the on-orbit probe as the operation data;

[0022] According to the operation data, characteristic values ​​of drilling pressure and torque load data are obtained as a module of operation characteristic values;

[0023] The operation characteristic values ​​within a period of time are input into the system state identification process to obtain a module of the current operation condition.

[0024] Based on the same inventive concept, the present invention also provides a method for identifying the state of a lunar probe drilling and production system, comprising:

[0025] A step of judging the current operating condition obtained;

[0026] If the generated on-orbit operating condition is within the preset non-nominal condition threshold, the identification result is sent;

[0027] If the generated on-orbit operating condition is not within the preset non-nominal condition threshold, the operation data is returned to be calculated until a non-nominal condition is identified.

[0028] Based on the same inventive concept, the present invention also provides a lunar probe drilling system state identification device, comprising:

[0029] A module for judging the current operating conditions;

[0030] If the generated on-orbit operating condition is within the preset non-nominal condition threshold, the identification result is sent;

[0031] If the generated on-orbit operating condition is not within the preset non-nominal condition threshold, the operation data is returned to be calculated until a non-nominal condition is identified.

[0032] Based on the same inventive concept, the present invention also provides a computer storage medium for storing a computer program. When the computer program is read by a computer, the computer executes the method described.

[0033] Based on the same inventive concept, the present invention also provides a computer, including a processor and a storage medium. When the processor reads a computer program stored in the storage medium, the computer executes the method described.

[0034] Based on the same inventive concept, the present invention also provides a computer program product, which is a computer program. When the computer program is read, the method described above is implemented.

[0035] Compared with the prior art, the technical solution provided by the present invention is beneficial in that:

[0036] The present invention provides a method for identifying the state of a lunar probe drilling system, which determines the load and state data characteristics of various non-nominal working conditions (such as particle stuck drill, rock working conditions, etc.) by analyzing the interaction between the drill and the lunar soil, which helps to improve the accuracy of system state identification. In the prior art, the lunar drilling system lacks accurate identification of different working conditions, and this analysis method fills this gap.

[0037] The present invention provides a method for identifying the state of a lunar probe drilling system. By conducting drilling experiments under non-nominal conditions in a simulated environment and collecting corresponding data, reliable data support can be provided for on-orbit operations, ensuring that the experimental conditions are highly consistent with the lunar environment. Compared with simple ground experiments, this experimental method of simulating the difference between the earth and the moon is closer to the actual situation, improving the practicality of the data and the reliability of identification.

[0038] The present invention provides a method for identifying the state of a lunar probe drilling system, which filters and normalizes the experimental data, extracts characteristic values, and establishes a non-nominal working condition characteristic database, thereby ensuring the accuracy and consistency of the data. Existing methods usually use the original data directly, which may be affected by noise. The preprocessing step significantly improves the data quality and thus improves the identification accuracy.

[0039] The present invention provides a method for identifying the state of a lunar probe drilling system. Based on the extracted characteristic values ​​and the established database, a system state identification process is constructed to realize automatic identification of various working conditions during the operation process. The existing technology mostly relies on manual judgment and control. The automated design of this process improves the autonomy and real-time performance of the system and reduces the interference of human factors.

[0040] The present invention provides a lunar probe drilling system state identification method, which receives on-orbit telemetry data, extracts characteristic values ​​and inputs them into the identification process, determines the current operating conditions in real time, and promptly feeds back to ground experts or performs further calculations, thereby ensuring the safety and reliability of the system in actual operations. Compared with traditional post-data analysis, this method processes data in real time on-orbit, can respond and adjust quickly, avoids potential risks, and improves the success rate of the mission.

[0041] The present invention provides a method for identifying the state of a lunar probe drilling system. By extracting characteristic values ​​and establishing a database for different working conditions, the identification accuracy rate reaches more than 95%, and the identification speed is within 2 ms.

[0042] The present invention provides a method for identifying the state of a lunar probe drilling and production system, which not only solves the problem of lunar drilling and production system state identification in the prior art, but also achieves significant progress in accuracy, real-time performance, autonomy and resource utilization, thereby greatly improving the success rate and efficiency of lunar sampling and exploration missions.

[0043] The present invention provides a lunar probe drilling and production system state identification method, which is suitable for application in lunar probe drilling and production system state identification work. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram of a flow chart of a state identification method for a lunar probe drilling and production system;

[0045] Figure 2 It is a flow chart for identifying the system status of the operation process;

[0046] Figure 3 This is a diagram showing the effect of testing the identification process using test data from ground simulation conditions of poor soil drainage. DETAILED DESCRIPTION

[0047] In order to make the advantages and benefits of the technical solution provided by the present invention more clearly reflected, the technical solution provided by the present invention is now further described in detail with reference to the accompanying drawings, specifically:

[0048] Implementation method 1: This implementation method provides a method for calculating the state identification of a drilling system of a lunar probe, including:

[0049] The steps of collecting the load and status data characteristics of each non-nominal working condition during the operation of the detector;

[0050] The step of collecting the load and state generated during the simulated drilling experiment of each non-standard working condition as non-standard data;

[0051] A step of establishing a non-standard operating condition characteristic database according to the non-standard data;

[0052] A step of establishing a system status identification process based on the feature database and the non-standard data;

[0053] The step of collecting the operation process load and status telemetry data sent by the on-orbit probe as the operation data;

[0054] A step of obtaining characteristic values ​​of drilling pressure and torque load data as operation characteristic values ​​according to the operation data;

[0055] The operation characteristic values ​​within a period of time are input into the system state identification process to obtain the steps of the current operation condition.

[0056] Implementation method 2. This implementation method is a further limitation of the lunar probe drilling system state identification calculation method provided in implementation method 1. The non-standard data includes: particle stuck drill condition, rock condition, soil discharge difficulty condition and pull-up drilling condition.

[0057] Implementation method three: This implementation method further limits the state identification calculation method of the lunar probe drilling and production system provided in implementation method one. According to the non-standard data, normalization and filtering processing are performed to establish a non-standard working condition feature database.

[0058] Implementation method 4. This implementation method is a further limitation of the lunar probe drilling and production system state identification calculation method provided in implementation method 1. The simulated drilling experiment of non-nominal working conditions is: conducting simulated drilling experiments of various non-nominal working conditions on a ground full-process drilling test bench with 1 / 6 of the ground gravity.

[0059] Embodiment 5: This embodiment provides a lunar probe drilling system state identification and calculation device, including:

[0060] A module for collecting load and status data characteristics of various non-nominal working conditions during the operation of the detector;

[0061] A module that collects the loads and states generated during the simulated drilling experiment under various non-standard working conditions as non-standard data;

[0062] A module for establishing a non-standard operating condition characteristic database according to the non-standard data;

[0063] A module for establishing a system status identification process based on the feature database and the non-standard data;

[0064] A module that collects the operation process load and status telemetry data sent by the on-orbit probe as the operation data;

[0065] According to the operation data, characteristic values ​​of drilling pressure and torque load data are obtained as a module of operation characteristic values;

[0066] The operation characteristic values ​​within a period of time are input into the system state identification process to obtain a module of the current operation condition.

[0067] Embodiment 6: This embodiment provides a method for identifying the state of a lunar probe drilling system, including:

[0068] A step of judging the current operating condition obtained in the first embodiment;

[0069] If the generated on-orbit operating condition is within the preset non-nominal condition threshold, the identification result is sent;

[0070] If the generated on-orbit operating condition is not within the preset non-nominal condition threshold, the operation data is returned to be calculated until a non-nominal condition is identified.

[0071] Specific:

[0072] Step 1: Analyze the interaction between the drilling tool and the lunar soil

[0073] Analyze the interaction between the drill tool and the lunar soil during the operation of the probe, and determine the load and status data characteristics of each non-nominal working condition.

[0074] Detailed description:

[0075] Particle stuck drill condition: Torque MQD, drilling pressure FD, rotation speed nd and feed speed vp are selected as identification features.

[0076] Rock working conditions: drilling pressure rise rate, rotation torque and feed speed vp are selected as identification features.

[0077] Poor soil discharge condition: torque rising rate and torque peak value are selected as identification features.

[0078] Pull-and-pull drilling condition: The torque increase rate and the drilling pressure decrease rate are selected as identification features.

[0079] Output: Load and status data characteristics of various non-nominal working conditions.

[0080] Step 2: Ground drilling test simulating non-standard working conditions

[0081] Simulated drilling experiments of various non-nominal working conditions were carried out on a ground full-process drilling test bench that simulates 1 / 6 of the ground gravity, and the load and status data generated during the experiment were collected.

[0082] Detailed description:

[0083] Drilling experiments were conducted to simulate lunar soil with different densities and particle positions to obtain data on particle sticking, rock, poor soil discharge, and drill rod tension conditions.

[0084] Output: Load and status data collected from surface drilling experiments.

[0085] Step 3: Data filtering and normalization preprocessing

[0086] The collected data is preprocessed by filtering and normalization to extract feature values.

[0087] Detailed description:

[0088] The drilling pressure and torque data are processed by using mean filtering.

[0089] Normalize the filtered data.

[0090] Calculate the rising rate and falling rate of the normalized load data, and take the absolute value to obtain the load change rate.

[0091] Output: preprocessed data feature values ​​and feature database.

[0092] Step 4: Establish a system status identification process

[0093] The system status identification process of the operation process is established based on the eigenvalue size and non-nominal working condition data characteristics.

[0094] Detailed description:

[0095] According to the characteristics of characteristic values ​​and non-nominal working conditions, design specific identification process and condition judgment.

[0096] Output: System state identification process.

[0097] Step 5: Receive telemetry data sent by the on-orbit probe

[0098] The ground validator receives the operational process payload and status telemetry data sent by the on-orbit probe.

[0099] Detailed description:

[0100] Receive real-time payload and status data from on-orbit probes.

[0101] Output: Received on-orbit payload and status telemetry data.

[0102] Step 6: Filter and extract telemetry data feature values

[0103] Filter telemetry data with correct data structure and extract feature values ​​of drilling pressure and torque load data.

[0104] Detailed description:

[0105] Filter the received telemetry data to ensure that the data structure is correct.

[0106] Extract eigenvalues ​​of drilling pressure and torque load data.

[0107] Output: Filtered telemetry data feature values.

[0108] Step 7: Input feature values ​​into the identification process

[0109] The characteristic value is input into the system state identification process and the current operating condition is output.

[0110] Detailed description:

[0111] According to the identification process, the characteristic value is input and judged, and the current operating condition is output.

[0112] Output: Current operating conditions.

[0113] Step 8: Process the recognition results

[0114] If it is a non-nominal operating condition, send the identification result; otherwise, repeat the eigenvalue calculation and identification process.

[0115] Detailed description:

[0116] If the generated on-orbit operating condition belongs to the defined non-nominal condition, the identification result will be sent to the ground experts.

[0117] If it does not belong to the defined non-nominal operating condition, the eigenvalues ​​of the on-orbit load data are repeatedly calculated and the feature set matrix is ​​generated, and the identification process is returned until the non-nominal operating condition is identified.

[0118] Output: Final recognition result.

[0119] Embodiment 7: This embodiment provides a lunar probe drilling system state identification device, including:

[0120] A module for judging the current operating condition obtained in the fifth implementation mode;

[0121] If the generated on-orbit operating condition is within the preset non-nominal condition threshold, the identification result is sent;

[0122] If the generated on-orbit operating condition is not within the preset non-nominal condition threshold, the operation data is returned to be calculated until a non-nominal condition is identified.

[0123] Embodiment 8: This embodiment provides a computer storage medium for storing a computer program. When the computer program is read by a computer, the computer executes the method described in embodiment 1.

[0124] Embodiment 9: This embodiment provides a computer, including a processor and a storage medium. When the processor reads the computer program stored in the storage medium, the computer executes the method described in embodiment 1.

[0125] Embodiment 10: This embodiment provides a computer program product, which is a computer program. When the computer program is read, the method described in Embodiment 1 is implemented.

[0126] Implementation Method XI: Combination Figure 1-3 This embodiment is described in detail by using specific examples to further describe the technical solution provided above. Specifically:

[0127] The following steps are involved:

[0128] Step S1: Analyze the interaction between the drilling tool and the lunar soil during the operation of the probe, and determine the load and state data characteristics of each non-nominal working condition based on mechanism analysis;

[0129] Step S2: conducting simulated drilling experiments of various non-nominal working conditions on a ground full-process drilling test bench simulating 1 / 6 of the ground gravity, and collecting load and state data generated during the experiment;

[0130] Step S3: filtering and normalizing the data collected in S2, extracting the characteristic values ​​of the data characteristics in S1, establishing a non-nominal working condition-characteristic database, and determining the characteristic value size based on the database;

[0131] Step S4: Establishing the system state identification process of the operation process based on the characteristic value size determined in S3 and the non-nominal working condition data characteristics of S1;

[0132] Step S5: The ground verifier receives the operation process load and status telemetry data sent by the on-orbit detector;

[0133] Step S6: screening telemetry data with correct data structure and extracting characteristic values ​​of drilling pressure and torque load data;

[0134] Step S7: input the characteristic values ​​within a period of time into the system state identification process to output the current operating condition;

[0135] Step S8: If the generated on-orbit operating condition belongs to the defined non-nominal condition, the identification result is sent to the ground expert;

[0136] Step S9: If the generated on-orbit operating condition does not belong to the defined non-nominal condition, the eigenvalues ​​of the on-orbit load data are repeatedly calculated and a feature set matrix is ​​generated, and then the identification process is returned again until a non-nominal condition is identified.

[0137] The load and state data characteristics of each non-nominal working condition determined based on the mechanism analysis in step S2 are as follows: for the particle stuck drill condition, the particles interact with the drill tool, hindering the rotation and drilling of the drill tool, and the torque M is selected. QD , drilling pressure F D , rotation speed n d and feed speed v p As the identification feature; for rock working conditions, the drilling tool feed action is hindered, the drilling pressure exceeds the limit in a short time, and the torque decreases, so the drilling pressure rise rate is selected Rotation torque M QD and feed speed v p As the identification feature; for the working condition of poor soil discharge, the feed-to-rotation ratio of the drilling tool is too high, and the chip generation speed exceeds the chip discharge speed, resulting in an increase in torque. The torque increase rate is selected and peak-to-peak torque As the identification feature; for the pull drilling condition, the drilling speed of the front end of the drill bit is too fast and the feed speed is too slow, causing the drill bit to bear the tension, and the torque rise rate is selected and drilling pressure drop rate as an identifying feature.

[0138] The filtering and normalization preprocessing of the data collected in S2 described in step S3 is as follows:

[0139] S3.1: The average values ​​of drilling pressure and torque data of the current frame and the two frames before and after, totaling 2N+1 data points, can be obtained:

[0140]

[0141] Where: y is the filtered value; x is the original data value.

[0142] S3.2: Normalizing the filtered laboratory data yields:

[0143] Where: min(y) is the minimum value of the test data after filtering; max(y) is the maximum design load of the detector drilling system, where the drilling pressure and torque are taken as 700N and 7.5N·m respectively.

[0144] S3.3: Calculate the difference between the current frame and the previous frame of the normalized load data and multiply it by the sampling frequency to obtain the load increase rate and decrease rate. Take the absolute value to obtain the load change rate.

[0145] The process of establishing the system state identification process of the operation process based on the characteristic value size determined in S3 and the non-nominal working condition data characteristics of S1 in step S4 is as follows:

[0146] S4.1: First determine whether the rotation speed of the received data is less than the threshold value n0. If it is and the torque is greater than the threshold value M0, it is determined to be a particle stuck drill condition.

[0147] S4.2: If the feed speed is less than the threshold value v0 and the drilling pressure is greater than the threshold value F0, it is determined to be a particle stuck drill condition.

[0148] S4.3: If the feed rate is less than the threshold value v0, the drilling pressure rise rate Greater than threshold And the torque M QD If it is less than the threshold value M1, it is judged as a rock condition.

[0149] S4.4: If the torque rise rate Greater than threshold And the rotation torque M QD If it is greater than the threshold value M2, it is determined to be a condition of poor soil discharge.

[0150] S4.5: If the torque change rate Greater than threshold And the drilling pressure drop rate Greater than threshold It is determined that the drill pipe is under tension.

[0151] S4.6: If the above conditions are not met, it is determined to be a nominal operating condition and the above identification procedure is repeated.

[0152] This embodiment discloses a method for identifying the state of a lunar probe drilling system. Compared with the prior art, the improvements of this embodiment are:

[0153] (1) Aiming at the system state identification of deep space sampling probes, this embodiment designs a lunar probe drilling system state identification method, which only uses the drilling pressure and rotation torque telemetry data of the lunar unmanned probe drilling system with a transmission frequency of 1 Hz, and tests the four typical non-nominal working conditions of lunar sampling and detection using the ground non-nominal working condition simulation experimental data, achieving an identification accuracy of more than 95%, and the identification speed is within 2 ms (Inter-i5-CPU / GTX1650-8G);

[0154] (2) At the same time, the lunar probe drilling system state identification method designed in this embodiment does not involve deep learning algorithms and only relies on logical judgment, which reduces the demand for computing power and storage space by more than 90%.

[0155] Embodiment 12: In order to enable those skilled in the art to better understand the technical solution provided by the present invention, the technical solution of this embodiment is further described below in conjunction with the accompanying drawings and examples.

[0156] Refer to the attached Figure 1 A method for identifying the state of a lunar probe drilling system is shown, comprising the following steps:

[0157] Step S1: Analyze the interaction between the drilling tool and the lunar soil during the operation of the probe, and determine the load and state data characteristics of each non-nominal working condition based on mechanism analysis;

[0158] Among them, non-nominal working conditions include particle stuck drill condition, rock condition, poor soil discharge condition and drill rod tension condition, which are four typical working conditions that seriously affect the safety of the drilling system during the mechanical soil action process. The particle stuck drill condition refers to the entanglement of the drill tool with the critical size particles related to the drill rod and drill bit structure size during the drilling process, which leads to the restriction of the rotation or feed behavior of the drill tool, and then causes the drilling pressure and rotation torque to exceed the system safety threshold. Under the limitation of 1 / 6 of the lunar gravity, it may cause the probe to slip or even overturn. In this process, the rotation speed or feed speed of the drilling system decreases rapidly, and the rotation torque or drilling pressure increases rapidly. Therefore, the torque M is selected. QD , drilling pressure F D , rotation speed n d and feed speed v p As an identification feature; rock working condition refers to the large particles with smooth surface larger than the critical size encountered during the drilling process, which results in limited feeding behavior and the drill slipping on the smooth large particle surface. Considering the limited size and mass of the detector, it is impossible to provide a large drilling pressure to break through the rock working condition, resulting in the forced interruption of the sampling task. In this process, the rotation speed or feed speed of the drilling system decreases rapidly, the drilling pressure increases rapidly, and the rotation torque decreases, so the drilling pressure increase rate is selected Rotation torque M QD and feed speed vp As the identification feature; the condition of poor soil discharge means that the chip generation speed is greater than the chip discharge speed, the lunar soil accumulates in the spiral groove, the contact area between the drill bit and the lunar soil on the hole wall increases, resulting in difficulty in rotation, so the torque increase rate is selected and the rotation torque M QD As an identification feature, the tension of the drill pipe refers to the self-tapping effect produced at the front end of the drill tool during drilling. The feed speed at the drill bit is greater than the overall feed speed of the drill tool. The drill pipe changes from a compressed state to a tensile state, causing damage to the drill tool. At this time, the drill pressure can no longer be used to identify the system state. In this process, the drill pressure decreases or even becomes negative, so the torque change rate is selected. and drilling pressure drop rate as an identifying feature;

[0159] Step S2: Since the mechanical properties of the lunar soil profile, particle size, and particle position in the ground drilling and mining full-process test can be manually adjusted, the four non-standard working conditions of particle stuck in the drill, encountering rocks, poor soil discharge, and tension on the drill rod can be simulated by changing the density of the simulated lunar soil, pre-burying particles of known particle size at designated locations, and changing the drilling and mining procedures. Among them, for the fine-grained lunar soil mixed with basalt and plagioclase with a density of 99% and a particle size of less than 1mm, a particle concentration of 55% and a particle size of 10mm-20mm of basalt critical size particles are arranged at a depth of 500-600mm, and a high feed-to-speed ratio procedure of 120mm / min footage speed and 50rpm rotation speed is used for drilling, which can simulate the particle stuck in the drill condition; for the fine-grained lunar soil with a density of 90%, a large basalt particle with a smooth surface and a particle size of 40mm is pre-placed directly below the drilling direction of the drill tool at a depth of 500mm, and a footage speed of 60mm / min and a rotation speed of 120rpm are used. The drilling procedure with a rotation speed of 60mm / min and a rotation speed of 120rpm is used to simulate the rock working condition; for 99% pure fine-grained lunar soil, a high feed-to-rotation ratio procedure of 120mm / min footage speed and 50rpm rotation speed is used to simulate the working condition of poor soil discharge; the lunar soil with fine particles of 0-500mm and 99% density, 99% density at a depth of 500mm-1000mm, 40% particle concentration, and 10mm-20mm basalt particle profile lunar soil is used, and the drilling procedure with a footage speed of 60mm / min and a rotation speed of 120rpm is used to simulate the tensile working condition of the drill rod;

[0160] Step S3: The drilling object of the lunar operation is unknown, and the telemetry data fluctuates greatly. In order to prevent the effective data from being submerged by the noise signal, the mean filter is used to average the load data of the current frame and the data of the previous two frames and the next two frames. Taking into account the differences in drilling objects and the differences between the ground simulation drilling test load and the on-orbit operation load under the influence of 1 / 6 of the lunar gravity, the ground simulation test load data is normalized, where the normalized minimum value is 0 and the maximum value is the load design threshold of the ground full-process drilling test bench. The specific process of filtering and normalization preprocessing is as follows:

[0161] S3.1: The average values ​​of drilling pressure and torque data of the current frame and the two frames before and after, totaling 2N+1 data points, can be obtained:

[0162]

[0163] Among them: y is the filtered value; x is the original data value;

[0164] S3.2: Normalizing the filtered laboratory data yields:

[0165] Where: min(y) is the minimum value of the test data after filtering; max(y) is the maximum load design value of the detector drilling system, where the drilling pressure and torque are taken as 700N and 7.5N·m respectively;

[0166] Step S4: The above four non-standard working conditions are ranked by importance according to their impact on system safety and probability of occurrence, namely: particle stuck drill condition, rock condition, poor soil discharge condition and drill rod tension condition. Among them, the identification features of particle stuck drill condition and rock condition overlap, but the particle stuck drill condition is prioritized. The specific process of the identification process is as follows:

[0167] S4.1: First determine whether the rotation speed of the received data is less than the threshold value n0. If it is and the torque is greater than the threshold value M0, it is determined to be a particle stuck drill condition;

[0168] S4.2: If the feed speed is less than the threshold value v0 and the drilling pressure is greater than the threshold value F0, it is determined to be a particle stuck drill condition;

[0169] S4.3: If the feed rate is less than the threshold value v0, the drilling pressure rise rate Greater than threshold And the torque M QD If it is less than the threshold value M1, it is judged as a rock condition;

[0170] S4.4: If the torque rise rate Greater than threshold And the rotation torque M QDIf it is greater than the threshold value M2, it is judged as a condition of poor soil discharge;

[0171] S4.5: If the torque change rate Greater than threshold And the drilling pressure drop rate Greater than threshold It is determined to be a tensile condition for the drill pipe;

[0172] S4.6: If the above conditions are not met, it is determined to be a nominal operating condition and the above identification procedure is repeated;

[0173] Step S5: The ground verifier receives the operation process load and status telemetry data sent by the on-orbit detector;

[0174] Step S6: screening telemetry data with correct data structure and extracting characteristic values ​​of drilling pressure and torque load data;

[0175] Step S7: input the characteristic values ​​within a period of time into the system state identification process to output the current operating condition;

[0176] Step S8: If the generated on-orbit operating condition belongs to the defined non-nominal condition, the identification result is sent to the ground expert;

[0177] Step S9: If the generated on-orbit operating condition does not belong to the defined non-nominal condition, the eigenvalues ​​of the on-orbit load data are repeatedly calculated and a feature set matrix is ​​generated, and then the identification process is returned again until a non-nominal condition is identified.

[0178] The technical solution provided by the present invention is further described in detail above through several specific implementation modes in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the several specific implementation modes described above are not intended to be used as limitations on the present invention. Any reasonable modification and improvement of the present invention, combination of implementation modes and equivalent substitution within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for calculating the state identification of a lunar probe drilling system, characterized in that: include: The steps of collecting the load and status data characteristics of each non-nominal working condition during the operation of the detector; The step of collecting the load and state generated during the simulated drilling experiment of each non-standard working condition as non-standard data; A step of establishing a non-standard operating condition characteristic database according to the non-standard data; A step of establishing a system status identification process based on the feature database and the non-standard data; The step of collecting the operation process load and status telemetry data sent by the on-orbit probe as the operation data; A step of obtaining characteristic values ​​of drilling pressure and torque load data as operation characteristic values ​​according to the operation data; The operation characteristic values ​​within a period of time are input into the system state identification process to obtain the steps of the current operation condition.

2. The method for calculating the state identification of the drilling system of a lunar probe according to claim 1, characterized in that: The non-standard data include: particle stuck drill condition, rock condition, soil discharge difficulty condition and pull-up drilling condition.

3. The method for calculating the state identification of the drilling system of a lunar probe according to claim 1, characterized in that: Normalization and filtering are performed on the non-standard data to establish a non-standard operating condition feature database.

4. The method for calculating the state identification of the drilling system of a lunar probe according to claim 1, characterized in that: The simulated drilling experiment of non-nominal working conditions is as follows: the simulated drilling experiments of various non-nominal working conditions are carried out on a ground full-process drilling test bench with 1 / 6 of the ground gravity.

5. A lunar probe drilling system state identification and calculation device, characterized in that: include: A module for collecting load and status data characteristics of various non-nominal working conditions during the operation of the detector; A module that collects the loads and states generated during the simulated drilling experiment under various non-standard working conditions as non-standard data; A module for establishing a non-standard operating condition characteristic database according to the non-standard data; A module for establishing a system status identification process based on the feature database and the non-standard data; A module that collects the operation process load and status telemetry data sent by the on-orbit probe as the operation data; According to the operation data, characteristic values ​​of drilling pressure and torque load data are obtained as a module of operation characteristic values; The operation characteristic values ​​within a period of time are input into the system state identification process to obtain a module of the current operation condition.

6. A method for identifying the state of a lunar probe drilling system, characterized in that: include: A step of judging the current operating condition obtained in claim 1; If the generated on-orbit operating condition is within the preset non-nominal condition threshold, the identification result is sent; If the generated on-orbit operating condition is not within the preset non-nominal condition threshold, the operation data is returned to be calculated until a non-nominal condition is identified.

7. A lunar probe drilling system state identification device, characterized in that: include: A module for judging the current operating condition obtained in claim 5; If the generated on-orbit operating condition is within the preset non-nominal condition threshold, the identification result is sent; If the generated on-orbit operating condition is not within the preset non-nominal condition threshold, the operation data is returned to be calculated until a non-nominal condition is identified.

8. A computer storage medium for storing a computer program, characterized in that: When the computer program is read by a computer, the computer executes the method of claim 1 .

9. A computer, comprising a processor and a storage medium, characterized in that: When the processor reads the computer program stored in the storage medium, the computer executes the method of claim 1 .

10. A computer program product, being a computer program, characterized in that When the computer program is read, the method according to claim 1 is implemented.

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