Lunar sampling mechanism collaborative expansion method, computer storage medium and program product

Abstract

The invention discloses a lunar sampling mechanism collaborative unfolding method, a computer storage medium and a program product, and relates to the field of space exploration, and the method comprises the steps: determining the unfolding state of a drilling unfolding mechanism through imaging equipment of a detector; according to the appearance characteristics of the drilling and unfolding mechanism, an alternative action area and an unfolding obstacle area of a mechanical arm of the table sampling mechanism are dynamically determined; under the constraint of the unfolding obstacle area, points in the alternative action area are searched, and a reachable action point set of the mechanical arm is determined; searching for each action point in the reachable action point set according to the principle that the driving torque along a rotating shaft of an unfolding arm of the drilling and unfolding mechanism is maximum, and determining the optimal action point for cooperative unfolding; the mechanical arm of the surface sampling mechanism moves to the position of the optimal action point and makes contact with the shaping mechanism, and the drilling and unfolding mechanism is unfolded through the combined action of a driving source of the drilling and unfolding mechanism and the external kinetic moment of the mechanical arm. The problem that taking-off of an ascender or a returner is affected due to the fact that a drilling unfolding mechanism cannot be unfolded or is not unfolded in place is solved.

Description

Technical Field

[0001] The present invention relates to the field of space exploration technology, and in particular to a lunar sampling mechanism collaborative deployment method, a computer-readable storage medium and a program product. Background Art

[0002] At present, the sampling methods used by unmanned lunar sampling missions mainly include drilling sampling and surface sampling. The drilling sampling method has the characteristics of large sampling depth and good bedding characteristics, which can realize the longitudinal depth detection of the moon. The surface sampling method has the characteristics of flexible sampling points and rich sample types, which can realize the lateral area detection of the moon. A probe uses both drilling and surface sampling methods at the same time, which can achieve a good complementarity of detection depth and breadth, improve the reliability of the mission, and have good scientific output. It has gradually become a new implementation method for lunar exploration.

[0003] In order to achieve a greater drilling depth, the configuration design of the drilling sampling mechanism is usually more complex. At the same time, in order to achieve the smooth transfer of samples, it often spans two or more devices, especially when it is connected to the ascender or returner. After completing all the drilling and sampling work, it needs to be deployed and evaded to the predetermined position to provide an obstacle-free channel for takeoff and return. If there is a problem with the deployment and avoidance, the probe will not be able to take off from the moon, and the samples obtained will not be able to return to the earth. Therefore, the reliable deployment of the drilling deployment mechanism is a key link in the product working process and a key point that affects the success or failure of the sampling and return mission.

[0004] In order to solve the problem of reliable deployment of the drilling and deployment mechanism, the drilling and deployment mechanism can be ensured to have high reliability by strengthening product margin design, strict component screening, combined working condition verification and other research and development work. However, the weight resource demand of the drilling and deployment mechanism will increase, which will affect the design of the entire detector, and the economic cost of development will also increase, and the ability to deal with unexpected factors in complex scenes is insufficient. Therefore, it is necessary to find a lighter, more economical and more flexible deployment method for the drilling and deployment mechanism without reducing reliability. Summary of the invention

[0005] The technical problem solved by this application is: to overcome the shortcomings of the existing technology and provide a method for coordinated deployment of a lunar sampling mechanism, to overcome the shortcomings of the existing technology in terms of large weight resource requirements for drilling and deployment mechanisms and coping with unexpected factors in complex deployment scenarios, and to solve the problem that the drilling and deployment mechanism cannot be deployed or is not deployed in place, affecting the takeoff of the ascender or returner.

[0006] In response to the requirements of sampling and detection tasks, a method of deploying the surface sampling mechanism in coordination with the drilling and deployment mechanism is proposed. Through internal coordination within the detector, the product resource demand is controlled within a reasonable range, the reliability of the deployment process of the drilling and deployment mechanism is improved, and the detector's ability to cope with complex scenarios is enhanced.

[0007] The technical solutions provided by this application are as follows:

[0008] A lunar sampling mechanism coordinated deployment method is used to coordinately deploy a surface sampling mechanism and a drilling deployment mechanism of a probe; the surface sampling mechanism is provided with a sampler and a mechanical arm, the drilling deployment mechanism includes a deployment arm and a shaping mechanism, one end of the deployment arm is connected to the shaping mechanism and the other end is hinged to the probe, and the mechanical arm is used to push the shaping mechanism to make the deployment arm rotate around its own hinge point, thereby completing the deployment; comprising:

[0009] S1: Determine the deployment state of the drilling deployment mechanism through the imaging device of the detector;

[0010] S2: According to the appearance characteristics of the drilling and deployment mechanism, dynamically determine the alternative action area and deployment obstacle area for the coordinated action of the mechanical arm of the surface sampling mechanism;

[0011] S3: Under the constraint of the unfolding obstacle area, search for points in the candidate action area to determine the set of reachable action points for the robotic arm of the surface sampling mechanism to cooperate with drilling and unfolding;

[0012] S4: For each action point in the reachable action point set, a search is performed according to the principle of maximizing the driving torque along the rotating shaft of the deployment arm of the drilling and deployment mechanism to determine the best action point for collaborative deployment; the mechanical arm of the surface sampling mechanism is moved to the best action point position and contacts the shaping mechanism, and the drilling and deployment mechanism is deployed through the combined action of its own driving source and the external power torque of the mechanical arm.

[0013] In S1, determining the deployment state of the drilling deployment mechanism by using the imaging device of the detector includes:

[0014] The imaging equipment of the probe conducts imaging observations on the drilling and deployment mechanism at a certain deployment angle step through ground calibration tests, obtains a deployment reference image of the drilling and deployment mechanism, and establishes a corresponding relationship between the deployment angle and the deployment reference image; during on-orbit operation, the deployment state image obtained by the imaging equipment of the probe is compared with the deployment reference image to determine the deployment angle of the drilling and deployment mechanism, thereby determining the deployment state of the drilling and deployment mechanism.

[0015] In S1, when the expanded state image and the expanded reference image cannot be accurately matched, the nearest match is used as the principle to drill the current expanded state of the expansion mechanism.

[0016] The deviation caused by the current deployment state of the drilling and deployment mechanism determined by the nearest matching is eliminated by the following steps:

[0017] The robotic arm of the surface sampling mechanism moves toward the shaping mechanism close to the drilling and deployment mechanism until the robotic arm contacts the shaping mechanism. At this time, the contact movement angle of the robotic arm is determined, and the contact movement angle of the robotic arm is used as the accurate deployment angle. The current deployment state of the drilling and deployment mechanism is determined and updated based on the accurate deployment angle, and the robotic arm of the surface sampling mechanism is reset at the same time.

[0018] In S2, according to the appearance characteristics of the drilling and deployment mechanism, the alternative action area and the deployment obstacle area for the coordinated action of the mechanical arm of the surface sampling mechanism are dynamically determined, including:

[0019] Combined with the external morphological characteristics of the drilling and deployment mechanism, determine the action point on the surface of the shaping mechanism where the mechanical arm of the surface sampling mechanism can exert external force; the selection of the action point meets the following requirements: 1. The action point and the adjacent area should be able to achieve surface contact with the sampler of the surface sampling mechanism; 2. The action point should be a point accessible by the surface sampling mechanism, and will not interfere with other equipment on the detector during its movement; by merging the action points, an alternative action area can be obtained;

[0020] The points where interference and collision may occur when the robotic arm of the surface sampling mechanism and the detector or the drilling deployment mechanism are deployed in coordination are collected as the deployment obstacle area; the points in the deployment obstacle area are divided into two types, one is the surface structure area points outside the alternative action area of ​​the shaping mechanism surface, and the other is the unselected alternative points in the alternative action area. When a selected point in the alternative action area is selected, the other alternative points in the alternative action area are unselected alternative points.

[0021] In said S2, the alternative action area and the obstacle area for the coordinated action of the sampling mechanism are dynamically determined, and then the following steps are included: for the alternative action area, a target neighborhood is established with the alternative point as the center of the circle, and the radius of the target neighborhood is larger than the outer dimensions of the contact end of the sampler.

[0022] In S3, under the constraint of the unfolding obstacle area, the points in the candidate action area are searched to determine the set of reachable actions that can be unfolded by the table sampling mechanism in cooperation with drilling, including:

[0023] S31: selecting an alternative point in the alternative action area, determining the angle between the sampler axis and the connecting plane of the deployment arm and the detector in the coordinated deployment state, and obtaining the target posture matrix of the surface sampling mechanism;

[0024] S32: According to the target posture matrix and the conversion relationship of the coordinate systems of each joint of the robot arm of the table sampling mechanism, the representation of the target posture matrix with respect to the joint rotation angle variable can be obtained, so as to calculate the joint rotation angle of each joint of the robot arm corresponding to the selected candidate point;

[0025] S33: repeat S31 and S32 to calculate the joint rotation angle of the mechanical arm of the table sampling mechanism corresponding to each candidate point in the candidate action area;

[0026] S33: Remove candidate points in the candidate action area whose joint rotation angles cannot be calculated to obtain candidate points of the joint rotation angles, and form a reachable action point set.

[0027] After S4, the method includes: during the coordinated deployment of the drilling and deployment mechanism by the mechanical arm of the surface sampling mechanism, after the deployment angle of the drilling and deployment mechanism is greater than a set threshold, repeating steps S1-S4.

[0028] In summary, this application at least includes the following beneficial technical effects:

[0029] 1) Through the image observation of the camera on the surface sampling mechanism arm, a state analysis method for the on-orbit drilling and deployment process is added, providing a quantitative assessment of the scenario of incomplete deployment;

[0030] 2) Through the coordinated operation of the surface sampling mechanism on the drilling and deployment process, a resource optimization approach is provided, the ability to cope with complex scenarios during the drilling and deployment process is improved, reliable deployment is ensured, and mission risks are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the drilling deployment state observed by the camera on the surface extraction arm in the present invention;

[0032] Figure 2 It is a schematic diagram of the alternative action area for the surface sampling mechanism to be deployed in cooperation with the surface sampling mechanism in the present invention;

[0033] Figure 3 It is a schematic diagram of the obstacle area of ​​the drilling and deployment mechanism after a point of action is selected in the present invention;

[0034] Figure 4 It is a schematic diagram of the target neighborhood of the candidate action point in the present invention;

[0035] Figure 5 It is a schematic diagram of the collaborative development process in the present invention.

[0036] Description of the accompanying figures: 1. Surface sampling mechanism; 11. Sampler; 12. Mechanical arm; 13. Arm-mounted camera;

[0037] 2. Drilling and unfolding mechanism; 21. unfolding arm; 22. shaping mechanism; 221. supporting body; 222. cross; 223. guide cylinder; 224. connecting structure. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0039] The embodiment of the present application provides a method for cooperative drilling and deployment of a surface sampling mechanism, which is used to make the surface sampling mechanism 1 and the drilling and deployment mechanism 2 of the detector to be coordinated and deployed to ensure that the drilling and deployment mechanism can be reliably deployed in complex scenarios; the surface sampling mechanism 1 is provided with a sampler 11 and a mechanical arm 12, and the drilling and deployment mechanism 2 includes a deployment arm 21 and a shaping mechanism 22, one end of the deployment arm 21 is connected to the shaping mechanism 22, and the other end is hinged to the detector, and the mechanical arm 12 is used to push the shaping mechanism 22 to make the deployment arm 21 rotate around its own hinge point, thereby completing the deployment; the method comprises the following steps:

[0040] Step 1: Acquire the deployment reference image and deployment state image of the drilling and deployment mechanism through the arm-mounted camera 13 connected to the surface sampling mechanism 1, so as to obtain the deployment state of the drilling and deployment mechanism 2; Step 2: Dynamically determine the alternative action area and deployment obstacle area for the coordinated action of the surface sampling mechanism according to the appearance characteristics of the drilling and deployment mechanism 2, and the action points included in the alternative action area and the deployment obstacle area are all located on the surface of the shaping mechanism; Step 3: Under the constraint of the deployment obstacle area, search for points in the alternative action area to determine the reachable action set of the surface sampling mechanism for coordinated drilling and deployment; and Step 4: Determine the optimal action point for coordinated deployment, so that the drilling and deployment mechanism can be deployed into place through the combined action of its own driving source and external power torque.

[0041] In the present invention, by adjusting the posture of the surface sampling mechanism 1, the arm-mounted camera 13 installed on the surface sampling mechanism 1 can reach a certain observation position and fully observe the state of the drilling and deployment mechanism. When the detector has other imaging devices that can fully observe the drilling and deployment process, it can replace the arm-mounted camera of the surface sampling mechanism to perform corresponding observation work.

[0042] Specifically, in step one, the following is performed: the arm-mounted camera of the surface sampling mechanism is subjected to a ground calibration test, and imaging observation of the drilling and deployment mechanism is performed at a certain step length (such as 1°) to obtain a deployment reference image of the drilling and deployment mechanism, and a corresponding relationship between the deployment angle and the deployment reference image is established; during on-orbit operation, the deployment state image obtained by the arm-mounted camera is compared with the deployment reference image to determine the deployment angle of the drilling and deployment mechanism, thereby determining the deployment state of the drilling and deployment mechanism.

[0043] When the unfolded state image and the unfolded reference image cannot be accurately matched, the nearest match is used as the principle to take the current unfolded state of the drilling and unfolding mechanism 2. When it is confirmed that the drilling and unfolding mechanism 2 is fully unfolded, the surface sampling mechanism 1 is no longer used for coordinated unfolding.

[0044] In step 2, the following is performed: combining the external morphological features of the drilling and spreading mechanism 2 to determine the points on the surface of the shaping mechanism 22 where the surface sampling mechanism 1 can apply external force.

[0045] The selection of the action point should follow four principles: 1. The action point should be compatible with the size of the sampler 12 of the surface sampling mechanism 1 to achieve surface contact; 2. The action point should be a point accessible to the surface sampling mechanism 1, and no interference will occur during its movement; 3. The action point should be as far away from the drilling and deployment axis as possible to provide conditions for obtaining a larger driving force arm; 4. The component of the driving torque generated by the action point in the non-deployment axis direction should be as small as possible. The preliminary convergence of the alternative action points can obtain the alternative action area.

[0046] During the collaborative deployment process, there is a possibility of interference between the surface sampling mechanism 1 and the detector or the drilling deployment mechanism 2. The deployment obstacle zone brings together points where interference and collision may occur during the collaborative deployment. The points in the deployment obstacle zone can be divided into two types, one is the surface structure area points outside the alternative action area, and the other is the alternative points in the alternative action area. For obstacle points in non-alternative action areas, they can be considered as obstacles as a whole during the collaborative deployment process; for points in the alternative action area, they may also interfere with the surface sampling mechanism going to other target action points and become obstacles in the collaborative deployment process. It is necessary to consider the obstacle effect introduced by the drilling deployment mechanism itself to avoid collisions between the drilling deployment mechanism and other parts of the surface sampling mechanism except the end of the sampler during the movement to the target action point.

[0047] In particular, for the alternative action area, it is necessary to establish a target neighborhood according to the changes of the alternative points, separate the alternative action points from the obstacle area, and the neighborhood radius can be reasonably selected according to the external dimensions of the sampler.

[0048] In step three, the following is performed: select an alternative point in the alternative action area, determine the angle between the sampler axis and the plane connecting the deployment arm 21 and the detector in the coordinated deployment state, and obtain the target posture matrix of the table sampling mechanism. According to the conversion relationship of the coordinate systems of each joint of the table sampling mechanism, the representation of the target posture matrix with respect to the joint rotation angle variable can be obtained, so that the joint rotation angle of each joint of the mechanical arm of the table sampling mechanism corresponding to the selected alternative point can be calculated. The mechanical arm 12 of the table sampling mechanism can move according to the joint rotation angle to push the drilling deployment mechanism 2 to be deployed. Repeat this step to determine the joint rotation angle of the mechanical arm 12 of the table sampling mechanism corresponding to each alternative point in the alternative action area.

[0049] By verifying and searching the candidate points in the candidate action area one by one (through the above steps, the candidate points in the candidate action area that cannot calculate the joint rotation angle are removed; the candidate points that can obtain the joint rotation angle are formed into a reachable action point set;), a reachable action point set of the robot arm 12 is formed. The points in this set can ensure that the surface sampling mechanism is reachable and will not interfere with the drilling sampling mechanism and other equipment on the surface of the instrument.

[0050] Execute in step 4: To improve the reliability of the deployment process, the torque provided by the coordinated deployment should be as large as possible, and the driving torque along the drilling deployment axis is the effective torque. By searching and comparing the candidate points in the reachable action set, the obtained maximum torque candidate point is used as the action point of the coordinated drilling deployment of the surface sampling mechanism. As the surface sampling mechanism coordinates the deployment of the drilling deployment mechanism, the action point calculation can be performed again according to steps 1 to 4.

[0051] Example 1

[0052] The present invention provides a method for coordinated deployment of a lunar sampling mechanism, which is used to ensure that the drilling and deployment mechanism can be deployed reliably in complex scenarios. The method mainly includes four aspects: deployment state confirmation, alternative action area and obstacle area determination, reachable action set acquisition, and optimal action point search.

[0053] Expand status confirmation

[0054] The surface sampling mechanism has multiple degrees of freedom and is equipped with an arm-mounted camera. By adjusting the position, the arm-mounted camera can reach a predetermined observation position and fully observe the deployment process of the drilling deployment mechanism. Figure 1 When other imaging devices that can fully observe the drilling and deployment process are installed on the detector, they can replace the arm-mounted camera to perform corresponding observation work.

[0055] The arm-mounted camera of the sampling mechanism can calibrate the sequence images and the deployment process status of the drilling deployment mechanism through ground tests. The drilling deployment mechanism is deployed at a certain step length (such as 1°), and the arm-mounted camera takes sequence images of the process and uses it as the deployment reference image to establish a comparison table of the relationship between the deployment angle and the deployment reference image. When working on track, the arm-mounted camera images the actual deployment state at the observation position, and determines the deployment angle of the drilling deployment mechanism by comparing it with the deployment reference image and combining the comparison table, thereby determining the deployment state of the drilling deployment mechanism.

[0056] When the unfolded state image cannot be accurately matched with the unfolded reference image, the nearest principle is used for matching as the current unfolded state of the drilling and unfolding mechanism, and its deviation can be eliminated by the contact movement of the surface sampling mechanism. When the drilling and unfolding mechanism is fully unfolded, it can be determined that the surface sampling mechanism is not used for coordinated unfolding.

[0057] Determination of alternative action areas and obstacle areas

[0058] Combined with the external morphological characteristics of the drilling and deployment mechanism, according to the principles of surface contact, no interference, large arm, and small component moment of the sampler, the alternative action points where the surface sampling mechanism can apply external force are determined, and the alternative action points are preliminarily merged to obtain the alternative action area, such as Figure 2The shaded areas in the figure indicate the connecting structure annular surface, the side surface of the guide cylinder, the adjacent surface of the support body and the guide cylinder, and the bottom surface of the cross beam. The shaping mechanism 22 includes a support body 221, a cross 222, a guide cylinder 223, and a connecting structure 224.

[0059] When the surface sampling mechanism cooperates with the drilling and deployment, the obstacle effect introduced by the drilling and deployment mechanism itself must be considered to avoid collisions between the arm, arm-mounted camera and other parts of the surface sampling mechanism except the end of the sampler and the drilling and deployment mechanism during the movement to the target action point. At the same time, it is also necessary to ensure that the surface sampling mechanism does not interfere with other equipment of the detector. Therefore, the points in the deployment obstacle area can be divided into two types, one is the surface structure area points outside the alternative action area, and the other is the alternative points in the alternative action area. By merging these obstacle points, the deployment obstacle area can be obtained, such as Figure 3 The shaded area shown is the obstacle point area on the drill deployment mechanism.

[0060] Due to the change of the deployment angle of the drilling deployment mechanism, the spatial position of the alternative action area and the deployment obstacle area will also change. Let (x0, y0, z0) be the coordinates of each point on the drilling deployment mechanism in the deployment coordinate system OXYZ when the drilling deployment mechanism is not deployed, and the transformation matrix T from the drilling deployment coordinate system to the reference coordinate system of the table sampling mechanism can be obtained by calibration. bz , then when the expansion angle is β i When , the points on the drilling and deployment mechanism can be expressed in the reference coordinate system of the surface sampling mechanism as:

[0061]

[0062] For the candidate action area, in order to ensure that the action point is accessible, it is necessary to establish a target neighborhood area according to the changes of the candidate point and separate the candidate action point from the obstacle area. Figure 4 The figure shows the change of the target neighborhood when the action point changes, where the neighborhood radius r0 is selected according to the outer dimensions of the sampler.

[0063] Among them, the obstacle points in the non-alternative action area constitute a set S 1i , the points in the alternative action area constitute a set S 2i , alternative action point (x i ,y i ,z i )∈S 2i , then the target neighborhood U of the candidate action point i It can be expressed as:

[0064]

[0065] Obstacle area set O on the drilling and deployment mechanism 1i It can be expressed as:

[0066] O 1i :=S 1i ∪(S 2i / U i ) (3)

[0067] When the surface sampling mechanism cooperates with the drilling, the surface sampling mechanism cannot interfere with other equipment on the detector surface. The detector surface point set is described as O2 using discrete points, and the obstacle area O is expanded. i It can be expressed as:

[0068] O i :=O 1i ∪O2 (4)

[0069] Reachable action set acquisition

[0070] The position relationship between the candidate action point and the surface sampling mechanism may change significantly with the change of the deployment angle of the drilling deployment mechanism, and its accessibility must be considered as one of the factors. i ,y i ,z i ), assuming that the angle between the axis of the sampler and the installation plane of the sampling mechanism in the coordinated deployment state is Then the target pose matrix T of the sampling mechanism acting on this point can be determined a for:

[0071]

[0072] in

[0073] On the other hand, according to the conversion relationship of the coordinate systems of each joint of the sampling mechanism, the target pose matrix of the sampling mechanism can be obtained:

[0074]

[0075] According to the equality between equations (5) and (6), the joint variables θ1, θ2, θ3, θ4 of the sampling mechanism can be solved as follows:

[0076]

[0077] in

[0078] By verifying and searching the candidate points in the candidate action area one by one, a set of action points Ω that can be reached by the surface sampling mechanism can be obtained. The points in this set can ensure that the surface sampling mechanism is reachable, will not interfere with the drilling sampling mechanism and other equipment on the surface, and can apply external force to the drilling deployment mechanism.

[0079] Best action point search

[0080] In order to improve the reliability of the deployment process, the torque provided by the coordinated deployment should be as large as possible. Figure 1 It can be seen that the unfolding driving torque along the -X axis of the unfolding coordinate system is the effective torque. i ,y i ,z i ), you can search according to formula (8):

[0081]

[0082] The candidate point that maximizes J found by formula (8) is used as the action point of the surface sampling mechanism in coordination with the drilling and deployment. When the deployment angle of the drilling and deployment mechanism is greater than a certain threshold (such as 10°) during the coordinated deployment of the surface sampling mechanism, the action point calculation can be performed again according to steps 1 to 4. The simulation diagram of the coordinated deployment process is shown in the following figure. Figure 5 shown.

[0083] This embodiment also discloses a computer-readable storage medium on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, the steps of any of the above methods are implemented.

[0084] This embodiment also discloses a computer program product, including a computer program / instruction, which implements the steps of any of the above methods when executed by a processor.

[0085] The improvements of this patent are:

[0086] 1) The coordinated deployment method of the surface sampling mechanism to the drilling deployment mechanism;

[0087] 2) A drilling expansion state confirmation method based on an expansion reference image;

[0088] 3) Methods for determining the alternative action areas and deployment obstacle areas during the collaborative deployment of sampling mechanisms;

[0089] 4) The optimal action point search method based on the reachable action set.

[0090] The contents not described in detail in this application specification belong to the common knowledge of those skilled in the art.

[0091] The present application is described in detail above in conjunction with specific implementation methods and exemplary examples, but these descriptions cannot be understood as limiting the present application. Those skilled in the art understand that, without departing from the spirit and scope of the present application, a variety of equivalent replacements, modifications or improvements can be made to the technical solution of the present application and its implementation methods, all of which fall within the scope of the present application. The scope of protection of the present application shall be subject to the attached claims.

Claims

1. A method for coordinated deployment of a lunar sampling mechanism, for coordinated deployment of a surface sampling mechanism (1) and a drilling deployment mechanism (2) of a probe; the surface sampling mechanism (1) is provided with a sampler (11) and a mechanical arm (12); the drilling deployment mechanism (2) comprises a deployment arm (21) and a shaping mechanism (22); one end of the deployment arm (21) is connected to the shaping mechanism (22) and the other end is hinged to the probe; the mechanical arm (12) is used to push the shaping mechanism (22) so that the deployment arm (21) rotates around its own hinge point, thereby completing the deployment; characterized in that: include: S1: Determine the deployment state of the drilling deployment mechanism (2) by using an imaging device of the detector; S2: dynamically determining the alternative action area and the deployment obstacle area for the coordinated action of the mechanical arm (12) of the surface sampling mechanism (1) according to the appearance characteristics of the drilling and deployment mechanism (2); S3: Under the constraint of the unfolding obstacle area, searching for points in the candidate action area, and determining a set of reachable action points that can be collaboratively drilled and unfolded by the mechanical arm (12) of the table sampling mechanism (1); S4: For each action point in the reachable action point set, a search is performed according to the principle of maximizing the driving torque along the rotation axis of the deployment arm (21) of the drilling and deployment mechanism (2), and the best action point for coordinated deployment is determined; the mechanical arm (12) of the surface sampling mechanism (1) is moved to the best action point position and contacts with the shaping mechanism (22), and the drilling and deployment mechanism (2) is deployed through the combined action of its own driving source and the external power torque of the mechanical arm (12).

2. A lunar sampling mechanism collaborative deployment method according to claim 1, characterized in that: In S1, determining the deployment state of the drilling deployment mechanism (2) by using the imaging device of the detector includes: The imaging device of the detector performs imaging observation on the drilling and deployment mechanism (2) at a certain deployment angle step through a ground calibration test, obtains a deployment reference image of the drilling and deployment mechanism (2), and establishes a corresponding relationship between the deployment angle and the deployment reference image; during on-orbit operation, the deployment state image obtained by the imaging device of the detector is compared with the deployment reference image to determine the deployment angle of the drilling and deployment mechanism (2), thereby determining the deployment state of the drilling and deployment mechanism (2).

3. A lunar sampling mechanism collaborative deployment method according to claim 1, characterized in that: In the above S1, when the unfolded state image and the unfolded reference image cannot be accurately matched, the nearest match is adopted as the principle to take the current unfolded state of the drilling unfolding mechanism (2).

4. A lunar sampling mechanism collaborative deployment method according to claim 3, characterized in that: The deviation caused by the current deployment state of the drilling and deployment mechanism (2) determined by nearest matching is eliminated by the following steps: The mechanical arm (12) of the surface sampling mechanism (1) is moved toward the shaping mechanism (22) of the drilling and deployment mechanism (2) until the mechanical arm (12) contacts the shaping mechanism (22). At this time, the contact movement angle of the mechanical arm (12) is determined, and the contact movement angle of the mechanical arm (12) is used as the accurate deployment angle. The current deployment state of the drilling and deployment mechanism (2) is determined and updated according to the accurate deployment angle, and the mechanical arm (12) of the surface sampling mechanism (1) is reset at the same time.

5. The method for collaborative deployment of a lunar sampling mechanism according to claim 1, characterized in that: In the above S2, according to the external features of the drilling and deployment mechanism (2), the alternative action area and the deployment obstacle area for the coordinated action of the mechanical arm (12) of the surface sampling mechanism (1) are dynamically determined, including: Combined with the external morphological features of the drilling and deployment mechanism (2), the action point of the mechanical arm (12) of the surface sampling mechanism (1) on the surface of the shaping mechanism (22) is determined; the selection of the action point satisfies the following requirements:

1. The action point and the adjacent area should be able to achieve surface contact with the sampler (11) of the surface sampling mechanism (1); 2. The action point should be a point accessible by the surface sampling mechanism (1) and will not interfere with other equipment on the detector during its movement; the action points are combined to obtain an alternative action area; Points where interference and collision may occur when the mechanical arm (12) of the surface sampling mechanism (1) cooperates with the detector or the drilling deployment mechanism (2) are collected as a deployment obstacle area; the points in the deployment obstacle area are divided into two types, one is the surface structure area points outside the alternative action area of ​​the surface of the shaping mechanism (22), and the other is the unselected alternative points in the alternative action area. When a selected point in the alternative action area is selected, the other alternative points in the alternative action area are unselected alternative points.

6. A lunar sampling mechanism collaborative deployment method according to claim 1, characterized in that: In the above S2, the alternative action area and the obstacle area for the coordinated action of the sampling mechanism (1) are dynamically determined, and then the following steps are included: for the alternative action area, a target neighborhood is established with the alternative point as the center of the circle, and the radius of the target neighborhood is larger than the outer dimensions of the contact end of the sampler (11).

7. A lunar sampling mechanism collaborative deployment method according to claim 1, characterized in that: In S3, under the constraint of the unfolding obstacle area, the points in the candidate action area are searched to determine the reachable action set that can be unfolded by the table sampling mechanism (1) in cooperation with drilling, including: S31: selecting an alternative point in the alternative action area, determining the angle between the axis of the sampler (11) and the connecting plane of the deployment arm (21) and the detector in the coordinated deployment state, and obtaining the target posture matrix of the surface sampling mechanism (1); S32: According to the target posture matrix and the coordinate system conversion relationship of each joint of the robot arm (12) of the table sampling mechanism (1), the representation of the target posture matrix with respect to the joint rotation angle variable can be obtained, thereby calculating the joint rotation angle of each joint of the robot arm (12) corresponding to the selected candidate point; S33: repeat S31 and S32 to calculate the joint rotation angle of the mechanical arm (12) of the table sampling mechanism (1) corresponding to each candidate point in the candidate action area; S33: Remove candidate points in the candidate action area whose joint rotation angles cannot be calculated, so as to obtain candidate points of the joint rotation angles to form a reachable action point set.

8. The method for collaboratively deploying a lunar sampling mechanism according to claim 1, characterized in that: After S4, it includes: During the coordinated deployment of the drilling deployment mechanism (2) and the mechanical arm (12) of the surface sampling mechanism (1), after the deployment angle of the drilling deployment mechanism (2) is greater than a set threshold, steps S1-S4 are repeated.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of any method described in claims 1-8 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of any method described in claims 1-8 are implemented.

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