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

Abstract

A method for coordinated deployment of a lunar sampling mechanism, a computer storage medium, and a program product, relating to the field of space exploration, includes: determining the deployment state of the drilling and deployment mechanism using the probe's imaging equipment; dynamically determining the alternative action area and deployment obstacle area of ​​the surface sampling mechanism's robotic arm based on the drilling and deployment mechanism's external features; searching for points in the alternative action area under the constraints of the deployment obstacle area to determine a set of reachable action points for the robotic arm; searching for each action point in the set of reachable action points based on the principle of maximizing the driving torque along the rotating shaft of the drilling and deployment mechanism's deployment arm to determine the optimal action point for coordinated deployment; and moving the surface sampling mechanism's robotic arm to the optimal action point and contacting it with a shaping mechanism. The drilling and deployment mechanism then deploys through the combined action of its own drive source and the external torque of the robotic arm. This method solves the problem of the drilling and deployment mechanism failing to deploy or not deploying properly, which affects the takeoff of an ascender or returner.

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] Currently, unmanned lunar sampling missions primarily employ two sampling methods: drilling and surface sampling. Drilling, with its deep sampling depth and excellent stratification, enables longitudinal exploration of the Moon. Surface sampling, with its flexible sampling locations and diverse sample types, enables lateral exploration of the Moon. Simultaneously employing both drilling and surface sampling methods within a single probe allows for a balanced exploration of both depth and breadth, improving mission reliability and generating significant scientific output. This has gradually become a new approach to lunar exploration.

[0003] To achieve greater drilling depths, the drilling and sampling mechanism typically requires a complex design. Furthermore, to ensure smooth sample transfer, it often spans two or more devices, particularly those connected to an ascender or returner. After completing the drilling and sampling process, it must deploy and evade to a predetermined position to provide an unobstructed path for takeoff and return. Failure to deploy and evade the mechanism can prevent the probe from taking off from the moon, and the samples collected cannot be returned to Earth. Therefore, reliable deployment of the drilling and deployment mechanism is a critical step in the product's operation and a key factor influencing the success or failure of the sampling and return mission.

[0004] To address the challenge of reliable deployment of the drilling and deployment mechanism, research and development efforts such as enhanced product margin design, rigorous component screening, and combined operating condition verification can ensure high reliability. However, this increases the weight and resource requirements of the drilling and deployment mechanism, impacting the overall detector design and increasing development costs. This also limits the ability to respond to unexpected factors in complex scenarios. Therefore, it is necessary to find a lighter, more economical, and more flexible method for deploying the drilling and deployment mechanism without compromising reliability. Summary of the Invention

[0005] The technical problem solved by this application is: to overcome the shortcomings of the existing technology, provide a method for the coordinated deployment of a lunar sampling mechanism, overcome the shortcomings of the existing technology in terms of large weight and resource requirements of the drilling and deployment mechanism and the response to unexpected factors in complex deployment scenarios, and 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 for the surface sampling mechanism to cooperate with the drilling and deployment mechanism to deploy is proposed. Through internal collaboration 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 in this application are as follows:

[0008] A method for coordinated deployment of a lunar sampling mechanism is provided, for enabling coordinated deployment of a probe's surface sampling mechanism and drilling deployment mechanism; the surface sampling mechanism is provided with a sampler and a robotic arm, and 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 robotic arm is used to push the shaping mechanism to rotate the deployment arm about its hinge point, thereby completing deployment; the method comprises:

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

[0010] S2: Dynamically determine the alternative action area and deployment obstacle area for the coordinated action of the manipulator arm of the surface sampling mechanism according to the external features of the drilling and deployment mechanism;

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

[0012] S4: For each action point in the set of reachable action points, 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 optimal action point for collaborative deployment; the robotic arm of the surface sampling mechanism is moved to the optimal 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 robotic 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 undergoes ground calibration tests, and conducts imaging observations of the drilling and deployment mechanism at a certain deployment angle step size to obtain a deployment reference image of the drilling and deployment mechanism, and establish 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 the 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 said S2, based on the external features of the drilling and deployment mechanism, the alternative action area and the deployment obstacle area for the coordinated action of the manipulator arm of the surface sampling mechanism are dynamically determined, including:

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

[0020] 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 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 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 deployment obstacle area for the cooperative action of the sampling mechanism are dynamically determined, and then the process includes: for the alternative action area, establishing a target neighborhood 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 deployment obstacle area, points in the candidate action area are searched to determine a set of reachable actions that can be deployed by the table sampling mechanism in a coordinated drilling manner, 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 sampling mechanism;

[0024] S32: According to the target pose matrix and the coordinate system transformation relationship of each joint of the manipulator of the sampling mechanism, the representation of the target pose matrix with respect to the joint rotation angle variable can be obtained, thereby calculating the joint rotation angle of each joint of the manipulator corresponding to the selected candidate point;

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

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

[0027] After S4, the method includes: during the coordinated deployment of the drilling and deployment mechanism and 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 to S4.

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

[0029] 1) Through image observations from 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 where the deployment is not fully completed;

[0030] 2) The coordinated operation of the surface sampling mechanism in the drilling and deployment process provides a resource optimization approach, improves the ability to cope with complex scenarios during the drilling and deployment process, ensures reliable deployment, and reduces mission risks. 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 This is a schematic diagram of the alternative action area for the surface sampling mechanism in the present invention to be deployed in a coordinated manner;

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

[0034] Figure 4 Schematic diagram of target neighborhood of candidate action points in the present invention;

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

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

[0037] 2. Drilling and unfolding mechanism; 21. Deployment arm; 22. Shaping mechanism; 221. Support 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 present application provides a method for coordinated drilling and deployment of a surface sampling mechanism, which is used to coordinate the deployment of a surface sampling mechanism 1 and a drilling and deployment mechanism 2 of a detector to ensure reliable deployment of the drilling and deployment mechanism in complex scenarios. The surface sampling mechanism 1 is provided with a sampler 11 and a robotic arm 12. 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. The robotic arm 12 is used to push the shaping mechanism 22 to rotate the deployment arm 21 around its own hinge point to complete the deployment. The method includes the following steps:

[0040] Step 1: The deployment reference image and deployment state image of the drilling and deployment mechanism are obtained through the arm-mounted camera 13 connected to the surface sampling mechanism 1, thereby obtaining the deployment state of the drilling and deployment mechanism 2; Step 2: According to the appearance characteristics of the drilling and deployment mechanism 2, the alternative action area and the deployment obstacle area for the coordinated action of the surface sampling mechanism are dynamically determined, and the action points contained 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, the points in the alternative action area are searched 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 position of the surface sampling mechanism 1, the arm-mounted camera 13 mounted on the surface sampling mechanism 1 can reach a predetermined observation position, fully observing the state of the drilling and deployment mechanism. If the detector has other imaging equipment that can fully observe the drilling and deployment process, it can replace the surface sampling mechanism arm-mounted camera to perform the corresponding observation work.

[0042] Specifically, in step one, the following is performed: the arm-mounted camera of the surface sampling mechanism undergoes a ground calibration test, and performs imaging observation on the drilling and deployment mechanism with a certain step size (such as 1°) to obtain a deployment reference image of the drilling and deployment mechanism, and establish a corresponding relationship between the deployment angle and the deployment reference image; 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 deployed state image and the deployed reference image cannot be accurately matched, the nearest match is used as the current deployed state of the drilling deployment mechanism 2. When the drilling deployment mechanism 2 is confirmed to be fully deployed, the surface sampling mechanism 1 is no longer used for coordinated deployment.

[0044] In step 2, the following is performed: combining the external morphological features of the drilling and spreading mechanism 2 to determine the point on the surface of the shaping mechanism 22 where the surface sampling mechanism 1 can apply an 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 accessible to the surface sampling mechanism 1 and should not interfere with its movement; 3. The action point should be as far away from the drilling and deployment axis as possible to provide a larger driving force arm; and 4. The component of the driving torque generated by the action point in the non-deployment axis direction should be as small as possible. A preliminary analysis of the candidate action points will yield the candidate 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 collaborative deployment. 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. Obstacle points in non-alternative action areas can be considered as obstacles as a whole during the collaborative deployment process; points in the alternative action area may also interfere with the surface sampling mechanism heading 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 for the end of the sampler, such as the arm and the arm-mounted camera, during the movement of the surface sampling mechanism 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 steps are 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 manipulator arm of the table sampling mechanism corresponding to the selected alternative point can be calculated. The manipulator arm 12 of the table sampling mechanism can move according to the joint rotation angle to push the drilling deployment mechanism 2 to deploy. Repeat this step to determine the joint rotation angle of the manipulator arm 12 of the table sampling mechanism corresponding to each alternative point in the alternative action area.

[0049] By verifying and searching for candidate points in the candidate action area one by one (through the above steps, candidate points in the candidate action area where the joint rotation angle cannot be calculated are removed; candidate points where the joint rotation angle can be calculated are used to form a set of reachable action points); a set of reachable action points for the robotic arm 12 is formed. The points in this set ensure that the surface sampling mechanism can reach them and will not interfere with the drilling sampling mechanism and other equipment on the surface.

[0050] In step 4, the following steps are executed: To improve the reliability of the deployment process, the torque provided by the coordinated deployment should be as large as possible, with the driving torque along the drilling and deployment axis being the effective torque. By searching and comparing candidate points within the reachable action set, the candidate with the maximum torque is selected as the action point for the coordinated drilling and deployment of the surface sampling mechanism. As the surface sampling mechanism coordinates the deployment of the drilling and deployment mechanism, the action point calculation can be repeated according to steps 1 to 4.

[0051] Example 1

[0052] The present invention provides a method for the 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 status confirmation, determination of alternative action areas and obstacle areas, acquisition of reachable action sets, and search for optimal action points.

[0053] Expand status confirmation

[0054] The surface sampling mechanism has multiple degrees of freedom of movement 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 capable of fully observing 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 sequence images with the drilling and deployment mechanism deployment process through ground testing. The drilling and deployment mechanism deploys at a fixed step size (e.g., 1°). The arm-mounted camera captures sequence images of this process and uses them as deployment reference images. A comparison table is then established between deployment angles and deployment reference images. During on-orbit operation, the arm-mounted camera captures images of the actual deployment state at the observation position. By comparing these images with the deployment reference images and combining them with the comparison table, the deployment angle of the drilling and deployment mechanism, and thus the deployment state of the drilling and deployment mechanism, is determined.

[0056] If the deployed state image and the deployed reference image do not precisely match, a match is made based on the nearest match, which is used as the current deployed state of the drilling and deployment mechanism. The deviation can be eliminated through contact motion of the surface sampling mechanism. When the drilling and deployment mechanism is fully deployed, it can be determined that the coordinated deployment of the surface sampling mechanism is not required.

[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 sampler surface contact, no interference, large arm, and small component moment, 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 between 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 for 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 obstruction point area on the drill deployment mechanism.

[0060] Due to the change in 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 follows:

[0061]

[0062] For the alternative 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 alternative point and separate the alternative 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 set of obstacle points in the non-alternative action area is 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 devices 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 alternative 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 ), assume 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 coordinate transformation relationship of each joint of the sampling mechanism, the target pose matrix of the sampling mechanism can be obtained:

[0074]

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

[0076]

[0077] in

[0078] By verifying and searching for each candidate point in the candidate action area, we can obtain the set of action points Ω that the surface sampling mechanism can reach. The points in this set ensure that the surface sampling mechanism can reach the surface sampling mechanism without interfering with the drilling sampling mechanism or 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's coordinated drilling and deployment. When the drilling and deployment mechanism is deployed in the process of coordinated deployment of the surface sampling mechanism, and the deployment angle is greater than a certain threshold (such as 10°), the action point calculation can be performed again according to steps 1 to 4. The simulation diagram of the coordinated deployment process is shown as follows: Figure 5 shown.

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

[0084] This embodiment further 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 and the drilling deployment mechanism;

[0087] 2) A drilling expansion status 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) Optimal action point search method based on reachable action set.

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

[0091] The present application has been described in detail above with reference to specific embodiments and exemplary examples. However, these descriptions should not be construed as limiting the present application. Those skilled in the art will appreciate that, without departing from the spirit and scope of the present application, various equivalent substitutions, modifications, or improvements may be made to the technical solutions and implementations of the present application, all of which fall within the scope of the present application. The scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for collaboratively deploying a lunar sampling mechanism, for enabling a surface sampling mechanism (1) and a drilling deployment mechanism (2) of a probe to be collaboratively deployed; the surface sampling mechanism (1) is provided with a sampler (11) and a robotic 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 robotic arm (12) is used to push the shaping mechanism (22) to rotate the deployment arm (21) around its own hinge point, thereby completing the deployment; and the method is characterized in that: include: S1: Determine the deployment state of the drilling deployment mechanism (2) through the 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 external features 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 for the robotic arm (12) of the table sampling mechanism (1) to collaboratively drill and unfold; 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 optimal action point for the coordinated deployment is determined; the mechanical arm (12) of the surface sampling mechanism (1) is moved to the optimal action point position and contacts the shaping mechanism (22), and the drilling and deployment mechanism (2) is deployed by the combined action of its own driving source and the external power torque of the mechanical arm (12).

2. The method for collaborative deployment of a lunar sampling mechanism according to claim 1, characterized in that: In said S1, the deployment state of the drilling deployment mechanism (2) is determined by the imaging device of the detector, including: 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. The 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 used as the principle to determine the current unfolded state of the drilling unfolding mechanism (2).

4. The method for collaborative deployment of a lunar sampling mechanism according to claim 3, characterized in that: The deviation caused by the current deployment state of the drilling deployment mechanism (2) determined by the 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 based on 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 said S2, based on the external features of the drilling and deploying 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 unfolding 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: first, the action point and the adjacent area should be able to achieve surface contact with the sampler (11) of the surface sampling mechanism (1); second, the action point should be a point accessible to the surface sampling mechanism (1) and will not interfere with other equipment on the detector during its movement; by combining the action points, an alternative action area can be obtained; Points where interference and collision may occur when the mechanical arm (12) of the surface sampling mechanism (1) and the detector or the drilling and deployment mechanism (2) are deployed in coordination are collected as a deployment obstacle area; the points in the deployment obstacle area are divided into two types, one type is the surface structure area points outside the alternative action area of ​​the surface of the shaping mechanism (22), and the other type 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. The lunar sampling mechanism collaborative deployment method according to claim 1, characterized in that: In said S2, the alternative action area and the unfolding obstacle area for the cooperative 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. The lunar sampling mechanism collaborative deployment method according to claim 1, characterized in that: In said S3, under the constraint of the expansion obstacle area, the points in the alternative action area are searched to determine the set of reachable actions that can be expanded by the table sampling mechanism (1) through collaborative 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 sampling mechanism (1); S32: According to the target posture matrix and the coordinate system conversion relationship of each joint of the manipulator (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 manipulator (12) corresponding to the selected candidate point; S33: Repeat S31 and S32 to calculate the joint rotation angle of the manipulator arm (12) of the table sampling mechanism (1) corresponding to each candidate point in the candidate action area; S33: Remove the candidate points in the candidate action area where the joint rotation angle cannot be calculated, so as to obtain the candidate points of the joint rotation angle to form a reachable action point set.

8. The lunar sampling mechanism collaborative deployment method 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 / instruction is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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

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