Lunar surface sampling ground control method and system, electronic equipment and storage medium

Abstract

The invention relates to the technical field of deep space exploration, and particularly discloses a lunar surface sampling ground control method and system, electronic equipment and a storage medium, and the method comprises the steps: obtaining the digital elevation topographic data of the lunar surface, and calculating the pose parameters of a mechanical arm associated with an image collection device for lunar surface sampling; generating a target planning result for lunar surface sampling according to target forecast information, and performing simulation verification on the target planning result in combination with the digital elevation topographic data, a simulation model of a movable mechanism for lunar surface sampling, mechanism parameters of the movable mechanism and the pose parameters; and when the target planning result passes verification, performing lunar surface sampling control according to the target planning result. According to the invention, the efficiency and precision of the sampling task under the uncertain complex environment of the lunar surface can be improved.

Description

Background Art

[0002] With the rapid development of aerospace technology, the number of exploration missions to deep space bodies such as the moon is increasing. As an important part of China's lunar exploration project, Chang'e-6 has achieved the first automatic sampling and return from the back of the moon in human history. Subsequent manned lunar landings will also implement multiple sampling missions, both unmanned and manned. However, the existing lunar surface sampling methods have problems such as low visual positioning accuracy, slow planning speed, weak monitoring and interpretation means, and low sampling efficiency in complex and uncertain terrain.

[0003] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a lunar surface sampling ground control method, system, electronic equipment and storage medium.

[0005] In a first aspect, the present invention provides a lunar surface sampling ground control method, the technical solution of the method is as follows:

[0006] Acquire digital elevation terrain data of the lunar surface and calculate the position parameters of the robotic arm associated with the image acquisition device used for lunar surface sampling;

[0007] Generate a target planning result for lunar surface sampling according to the target prediction information, and perform simulation verification on the target planning result in combination with the digital elevation terrain data, a simulation model of an activity mechanism for lunar surface sampling, mechanism parameters of the activity mechanism and the posture parameters;

[0008] When the target planning result is verified, lunar surface sampling control is performed according to the target planning result.

[0009] The beneficial effects of a lunar surface sampling ground control method of the present invention are as follows:

[0010] The method of the present invention can improve the efficiency and accuracy of sampling tasks in uncertain and complex environments on the lunar surface.

[0011] Based on the above scheme, the ground control method for lunar surface sampling of the present invention can also be improved as follows.

[0012] In an optional manner, the step of obtaining digital elevation terrain data of the lunar surface includes:

[0013] Using the image acquisition device, obtaining an original image of the lunar surface;

[0014] The original image is subjected to image preprocessing, image matching, image three-dimensional solution and three-dimensional coordinate conversion in sequence to obtain the digital elevation terrain data.

[0015] In an optional manner, the target planning result includes: an overall planning result of the sampling task, an activity mechanism planning result and an instruction plan planning result.

[0016] In an optional manner, the method further includes:

[0017] Analyze and evaluate the process of lunar surface sampling control.

[0018] In an optional manner, the method further includes:

[0019] A visual representation of the lunar surface sampling control process.

[0020] In a second aspect, the present invention provides a lunar surface sampling ground control system, the technical solution of which is as follows:

[0021] It includes: an acquisition module, a processing module and a control module;

[0022] The acquisition module is used to: acquire digital elevation terrain data of the lunar surface and calculate the posture parameters of the mechanical arm associated with the image acquisition device for sampling the lunar surface;

[0023] The processing module is used to generate a target planning result for lunar surface sampling according to the target prediction information, and simulate and verify the target planning result in combination with the digital elevation terrain data, the simulation model of the active mechanism for lunar surface sampling, the mechanism parameters of the active mechanism and the posture parameters;

[0024] The control module is used to: when the target planning result is verified, perform lunar surface sampling control according to the target planning result.

[0025] The beneficial effects of a lunar surface sampling ground control system of the present invention are as follows:

[0026] The system of the present invention can improve the efficiency and accuracy of sampling tasks in uncertain and complex environments on the lunar surface.

[0027] Based on the above scheme, the lunar surface sampling ground control system of the present invention can also be improved as follows.

[0028] In an optional manner, the acquisition module is specifically used to:

[0029] Using the image acquisition device, obtaining an original image of the lunar surface;

[0030] The original image is subjected to image preprocessing, image matching, image three-dimensional solution and three-dimensional coordinate conversion in sequence to obtain the digital elevation terrain data.

[0031] In an optional manner, the target planning result includes: an overall planning result of the sampling task, an activity mechanism planning result and an instruction plan planning result.

[0032] In a third aspect, a technical solution of an electronic device of the present invention is as follows:

[0033] It includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the lunar surface sampling ground control method of the present invention are implemented.

[0034] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution:

[0035] Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the lunar surface sampling ground control method of the present invention.

[0036] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0038] Figure 1 A schematic flow chart of an embodiment of a lunar surface sampling ground control method of the present invention;

[0039] Figure 2 Overall flow chart of ground control for lunar surface sampling;

[0040] Figure 3 It is a schematic structural diagram of an embodiment of a lunar surface sampling ground control system of the present invention;

[0041] Figure 4 The figure is a schematic structural diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION

[0042] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0043] Figure 1FIG. 2 is a flow chart showing an embodiment of a lunar surface sampling ground control method provided by the present invention. Figure 1 As shown, the following steps are included:

[0044] S1. Obtain digital elevation terrain data of the lunar surface and calculate the posture parameters of the robotic arm associated with the image acquisition device for lunar surface sampling. Specifically:

[0045] 1) The steps of obtaining digital elevation terrain data of the lunar surface include:

[0046] Use the image acquisition device to obtain original images of the lunar surface.

[0047] The image acquisition device is a camera by default, and the camera is connected to the robotic arm. The original image is the image of the lunar surface directly acquired by the camera.

[0048] The original image is subjected to image preprocessing, image matching, image three-dimensional solution and three-dimensional coordinate conversion in sequence to obtain the digital elevation terrain data.

[0049] Among them, image preprocessing supports information enhancement display of imaging under front / back lighting conditions, supports binocular image enhancement and nuclear line generation, and has the ability of piecewise linear enhancement and nonlinear transformation enhancement. Image matching (dense point matching) is completed based on least squares and other methods, and image correlation coefficients are output. Image three-dimensional solution forms a denoised three-dimensional point cloud through filtering based on dense point matching and intersection results. The three-dimensional coordinate conversion is based on dense three-dimensional point clouds, and regular grid DEM data is generated through interpolation; DOM texture images are generated through two-dimensional map mapping calculations.

[0050] 2) The step of calculating the posture parameters of the robotic arm associated with the image acquisition device for lunar surface sampling comprises:

[0051] Based on the image data of surveillance cameras and active mechanism cameras, digital elevation terrain data is read, and according to the principles of computer vision, cooperative targets or natural features such as targets are used, and multiple positioning methods such as PNP algorithm, real-time images and reference maps are used for interpretation and comparison to calculate the position and posture of the target in the field of view and the robot arm equipped with the camera (visual positioning). Among them:

[0052] ① Target point extraction. The target point tracking and target point matching algorithm uses the overall characteristics of the target distribution combined with the position and posture change results of the sequence images (obtained by the change of the robot arm parameters) to track and obtain the correct mapping relationship of the target points between the sequence images.

[0053] First, the target features in the image are extracted using the target feature extraction method. The position of the target point in the image is obtained; then the projection position of the target point on the current image is calculated using the initial image pose parameters; the local area template is calculated using the image distribution of the target point in the previous frame, and the distance between the target projection position and the extracted target position and the template similarity measure are used as the tracking cost. The mapping combination with the minimum overall tracking cost is found as the optimal tracking result.

[0054] ② Line extraction. For straight line segments in the image, consider using the LSD method for extraction. LSD is a line detector based on gradient change and region growing. Its main ideas include image scaling, gradient calculation, region growing to generate line support domain and line verification.

[0055] ③PNP positioning solution. First, at least four non-coplanar control points need to be determined in the world coordinate system. These points are usually calculated from the feature points in the actual scene by the principal component analysis method. The weight factor α is calculated based on the known coordinates of the reference point (feature point) in the world coordinate system. Calculate the coordinates of the four control points in the camera coordinate system and the coordinates of the reference point in the camera coordinate system. Using the above information, the position and orientation of the camera are estimated through iterative optimization methods. This step usually involves complex mathematical operations, including linear algebra and optimization theory. The camera's pose is continuously adjusted in an iterative manner until certain convergence conditions are met.

[0056] S2. Generate a target planning result for lunar surface sampling based on the target prediction information, and perform simulation verification on the target planning result in combination with the digital elevation terrain data, a simulation model of the active mechanism for lunar surface sampling, the mechanism parameters of the active mechanism and the posture parameters.

[0057] Among them, the target forecast information includes: measurement and control tracking forecast, solar altitude angle azimuth forecast and other information. The target planning results include: the overall planning results of the sampling task, the planning results of the activity mechanism and the planning results of the instruction plan. The activity mechanism includes: solar panels, directional antennas, and robotic arms. The activity mechanism planning results include: solar panels motion planning, directional antenna motion planning, and robotic arm motion planning. Specifically:

[0058] 1) Solar panel motion planning. The input data of solar panel motion planning is the solar altitude angle azimuth forecast file, and the output result is the solar wing adjustment time. The calculation process is as follows:

[0059] a) Output the sun altitude angle azimuth forecast under the mechanical system.

[0060] b) Based on the current angle of the solar wing, calculate the angle between the solar wing normal and the sun vector.

[0061] c) Calculate and output the solar wing adjustment time when the difference exceeds the threshold.

[0062] d) According to the solar panel adjustment time and the optimal pointing principle of the lander solar panel, calculate the +Z solar panel rotation angle and the -Z solar panel rotation angle respectively.

[0063] 2) Directional antenna motion planning. The input data of directional antenna motion planning is the measurement, control and tracking forecast file, and there are three types of output results: visible window, planning results and detailed planning results. The visible window refers to the continuous tracking arc generated under the conditions of directional antenna relay tracking; the planning result refers to the output of the antenna direction, time and the moment when the antenna starts to move at a certain interval; the detailed planning result refers to the output of the angle of the antenna's dual axes within the visible window. The calculation process is as follows:

[0064] a) Calculate the antenna visible window based on the antenna rotation constraint.

[0065] b) Calculate the antenna direction, time and the moment when the antenna starts moving at regular intervals based on the visible window.

[0066] c) Output detailed planning results according to the visual window.

[0067] 3) Robotic arm motion planning.

[0068] a) Forward kinematics. The forward kinematics problem can be briefly described as solving the position and posture of the end effector of the robot arm when the rotation angles of each joint of the robot arm are known. The DH parameters are used to describe the kinematic relationship of the mechanism. The position and posture of each connecting rod are described by the coordinate system fixed to it. The origin of the fixed coordinate system describes the spatial position of the joint, and the three axes represent the spatial posture of the connecting rod. According to the specific structural characteristics of the robot arm, the base is used as the fixed reference coordinate system, and the coordinate system is established for each connecting rod in turn to give a forward kinematics model.

[0069] b) Inverse kinematics. The inverse kinematics problem is to solve the rotation angles of each joint based on the known position information of the end effector. It is the reverse solution process of the forward kinematics problem.

[0070] c) Path planning: The path planning of the robot arm mainly selects specific paths in joint space or Cartesian space for specific actions.

[0071] 4) Combining the digital elevation terrain data, the simulation model of the active mechanism for lunar surface sampling, the mechanism parameters of the active mechanism and the posture parameters, the process of simulating and verifying the target planning result specifically includes:

[0072] According to the mechanism parameters of the active mechanism, the simulation model of the active mechanism, the digital elevation terrain data and the posture parameters of the manipulator, the simulation verification request is received, the motion process of the active mechanism in the sampling process (the target planning result) is simulated, and the correctness of the planned control parameters and instruction plan is verified, including the manipulator Cartesian motion calculation model, the manipulator joint space motion calculation model, and the directional antenna return verification model. Specifically:

[0073] 1) The Cartesian motion calculation model of the robot and the joint space operation calculation model are used to parse the intermediate result file of the strategy planning and the injection data file according to the Cartesian motion planning results and joint space planning results of the robot, and to build a verification sequence. After the construction is completed, the inverse kinematics simulation of the robot motion trajectory is performed, the robot trajectory is output point by point, the robot motion state is provided, the accessibility of the motion planning is verified, and the robot motion trajectory is estimated.

[0074] 2) The antenna planning verification model simulates the antenna movement process according to the antenna movement control parameters in the antenna planning strategy and the antenna movement speed, verifies the legitimacy of the antenna movement polarity, and verifies whether the antenna is within the visible range during the movement.

[0075] S3. When the target planning result is verified, lunar surface sampling control is performed according to the target planning result.

[0076] In an optional manner, the method further includes:

[0077] Analyze and evaluate the process of lunar surface sampling control.

[0078] Among them, the automated analysis and evaluation technology is used to carry out statistical analysis of the sampling time, sampling times and sampling volume on the lunar surface, and form the evaluation results of the lunar sampling process to provide technical support for mission decision-making. Specifically: receive the probe telemetry parameter data, simulation verification data and target planning results, interpret the midpoint of the movement during the movement of the active mechanism, and display the sampling situation in real time based on the process information such as the time consumption of the current sampling process, the average time of a single sampling, and the remaining sampling time. After completing a sampling, the time calculation of the sampling process is triggered based on important events or telemetry status.

[0079] In an optional manner, the method further includes:

[0080] A visual representation of the lunar surface sampling control process.

[0081] Among them, it receives digital elevation terrain data, simulation verification data and target planning results, and completes the visualization of the lunar surface three-dimensional terrain environment, activity mechanism control strategy, sampling process status and control execution effect during the lunar surface sampling process.

[0082] It should be noted that the overall process of this embodiment is as follows Figure 2 As shown, it aims to solve the problems of low visual positioning accuracy, slow planning speed, weak monitoring and interpretation means, and low sampling efficiency of the existing lunar surface sampling system in complex and uncertain terrain. Figure 2 The operating platform in the system adopts visual operating platform technology to provide a visual operating platform for ground control and realize the visualization and diversified data display of tasks.

[0083] The technical solution of this embodiment can improve the efficiency and accuracy of sampling tasks in the uncertain and complex environment of the lunar surface.

[0084] Figure 3 FIG. 2 shows a schematic diagram of a structure of an embodiment of a lunar surface sampling ground control system 200 provided by the present invention. Figure 3 As shown, the system 200 includes: an acquisition module 210, a processing module 220 and a control module 230;

[0085] The acquisition module 210 is used to: acquire digital elevation terrain data of the lunar surface and calculate the posture parameters of the manipulator associated with the image acquisition device for sampling the lunar surface;

[0086] The processing module 220 is used to: generate a target planning result for lunar surface sampling according to the target prediction information, and perform simulation verification on the target planning result in combination with the digital elevation terrain data, the simulation model of the activity mechanism for lunar surface sampling, the mechanism parameters of the activity mechanism and the posture parameters;

[0087] The control module 230 is used to: when the target planning result is verified, perform lunar surface sampling control according to the target planning result.

[0088] In an optional manner, the acquisition module 210 is specifically used to:

[0089] Using the image acquisition device, obtaining an original image of the lunar surface;

[0090] The original image is subjected to image preprocessing, image matching, image three-dimensional solution and three-dimensional coordinate conversion in sequence to obtain the digital elevation terrain data.

[0091] In an optional manner, the target planning result includes: an overall planning result of the sampling task, an activity mechanism planning result and an instruction plan planning result.

[0092] In an optional manner, the method further includes: an evaluation module; the evaluation module is used to:

[0093] Analyze and evaluate the process of lunar surface sampling control.

[0094] In an optional manner, the device further includes: a display module; the display module is used to:

[0095] A visual representation of the lunar surface sampling control process.

[0096] The technical solution of this embodiment can improve the efficiency and accuracy of sampling tasks in the uncertain and complex environment of the lunar surface.

[0097] The above-mentioned parameters and steps for each module to implement corresponding functions in the lunar surface sampling ground control system 200 of this embodiment can refer to the parameters and steps in the embodiment of the lunar surface sampling ground control method above, and will not be repeated here.

[0098] like Figure 4 As shown, an electronic device 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the electronic device 300 implements any one of the above-mentioned lunar surface sampling ground control methods, specifically:

[0099] The electronic device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the electronic device 300 implements any of the lunar surface sampling ground control methods provided in the above embodiments. Of course, the electronic device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the electronic device 300 may also include other components for implementing device functions, which will not be described in detail here.

[0100] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements any one of the above-mentioned lunar surface sampling ground control methods.

[0101] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0102] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs any of the above-mentioned lunar surface sampling ground control methods.

[0103] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0104] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0105] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0106] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A lunar surface sampling ground control method, characterized in that: include: Acquire digital elevation terrain data of the lunar surface and calculate the position parameters of the robotic arm associated with the image acquisition device used for lunar surface sampling; Generate a target planning result for lunar surface sampling according to the target prediction information, and perform simulation verification on the target planning result in combination with the digital elevation terrain data, a simulation model of an activity mechanism for lunar surface sampling, mechanism parameters of the activity mechanism and the posture parameters; When the target planning result is verified, lunar surface sampling control is performed according to the probe telemetry parameters and the target planning result.

2. The lunar surface sampling ground control method according to claim 1, characterized in that: The steps to obtain digital elevation terrain data of the lunar surface include: Using the image acquisition device, obtaining an original image of the lunar surface; The original image is subjected to image preprocessing, image matching, image three-dimensional solution and three-dimensional coordinate conversion in sequence to obtain the digital elevation terrain data.

3. The lunar surface sampling ground control method according to claim 1, characterized in that: The target planning results include: overall planning results of the sampling task, planning results of the activity mechanism and planning results of the instruction plan.

4. The lunar surface sampling ground control method according to any one of claims 1 to 3, characterized in that: Also includes: Analyze and evaluate the process of lunar surface sampling control.

5. The lunar surface sampling ground control method according to any one of claims 1 to 3, characterized in that: Also includes: A visual representation of the lunar surface sampling control process.

6. A lunar surface sampling ground control system, characterized in that: include: Acquisition module, processing module and control module; The acquisition module is used to: acquire digital elevation terrain data of the lunar surface and calculate the posture parameters of the mechanical arm associated with the image acquisition device for sampling the lunar surface; The processing module is used to generate a target planning result for lunar surface sampling according to the target prediction information, and simulate and verify the target planning result in combination with the digital elevation terrain data, the simulation model of the active mechanism for lunar surface sampling, the mechanism parameters of the active mechanism and the posture parameters; The control module is used to: when the target planning result is verified, perform lunar surface sampling control according to the target planning result.

7. The lunar surface sampling ground control system according to claim 6, characterized in that: The acquisition module is specifically used for: Using the image acquisition device, obtaining an original image of the lunar surface; The original image is subjected to image preprocessing, image matching, image three-dimensional solution and three-dimensional coordinate conversion in sequence to obtain the digital elevation terrain data.

8. The lunar surface sampling ground control system according to claim 6, characterized in that: The target planning results include: overall planning results of the sampling task, planning results of the activity mechanism and planning results of the instruction plan.

9. An electronic device, characterized in that: The electronic device includes a processor, which is coupled to a memory. The memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the lunar surface sampling ground control method as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that: At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by the processor so that the computer-readable storage medium implements the lunar surface sampling ground control method as described in any one of claims 1 to 5.

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