Lunar Surface Sampling Ground Control System, Electronic Device, and Storage Medium

Abstract

The present invention relates to the technical field of deep space exploration, and specifically discloses a ground control system for lunar surface sampling, an electronic device, and a storage medium. The method includes: obtaining digital elevation terrain data of the lunar surface, and calculating pose parameters of a robotic arm associated with an image acquisition device for lunar surface sampling; generating a target planning result for lunar surface sampling according to target prediction information, and combining the digital elevation terrain data, a simulation model of an active mechanism for lunar surface sampling, mechanism parameters of the active mechanism, and the pose parameters to perform simulation verification on the target planning result; when the target planning result passes the verification, performing lunar surface sampling control according to the target planning result. The present invention can improve the efficiency and accuracy of sampling tasks in the uncertain and complex environment of the lunar surface.

Description

Background Art

[0002] With the rapid development of space technology, the exploration missions to deep space celestial bodies such as the moon are increasing day by day. As an important part of China's lunar exploration project, Chang'e-6 achieved the first automatic sampling and return on the far side of the moon in human history. Subsequently, multiple unmanned and manned sampling tasks will be implemented for the manned lunar landing. 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 terrains.

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

[0004] To solve the above technical problems, the present invention provides a ground control system, an electronic device, and a storage medium for lunar surface sampling.

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

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

[0007] According to the target prediction information, generate a target planning result for lunar surface sampling, and combine the digital elevation terrain data, the simulation model of the moving mechanism for lunar surface sampling, the mechanism parameters of the moving mechanism, and the pose parameters to perform simulation verification on the target planning result;

[0008] When the target planning result passes the verification, perform lunar surface sampling control according to the target planning result.

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

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

[0011] On the basis of the above solution, a 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 the digital elevation terrain data of the lunar surface includes:

[0013] Use the image acquisition device to obtain the original image of the lunar surface;

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

[0015] In an alternative approach, the target planning result includes: the overall sampling task planning result, the active mechanism planning result, and the command plan planning result.

[0016] In an alternative approach, it further includes:

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

[0018] In an alternative approach, it further includes:

[0019] Visually display the process of lunar surface sampling control.

[0020] In a second aspect, the present invention provides a ground control system for lunar surface sampling. The technical solution of this system 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 pose parameters of the robotic arm associated with the image acquisition device for lunar surface sampling;

[0023] The processing module 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 by 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 pose parameters;

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

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

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

[0027] On the basis of the above solution, a ground control system for lunar surface sampling according to the present invention can also be improved as follows.

[0028] In an alternative approach, the acquisition module is specifically used to:

[0029] Use the image acquisition device to acquire the original image of the lunar surface;

[0030] Perform image preprocessing, image matching, 3D image resolution, and 3D coordinate conversion on the original image in sequence to obtain the digital elevation terrain data.

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

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

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

[0034] In a fourth aspect, a technical solution of a computer-readable storage medium provided by the present invention is as follows:

[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 according to the present invention.

[0036] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the present invention more obvious and understandable, the following specifically illustrates the specific embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings are only used to illustrate the embodiments and are not considered to limit the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0038] Figure 1 is a schematic flowchart of an embodiment of a lunar surface sampling ground control method according to the present invention;

[0039] Figure 2 is the overall flowchart of lunar surface sampling ground control;

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

[0041] Figure 4 is a schematic structural diagram of an embodiment of an electronic device according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] The exemplary embodiments of the present invention will be described in more detail below with reference to the drawings. Although the 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 by the embodiments described herein.

[0043] Figure 1The flowchart shows an embodiment of a ground control method for lunar surface sampling provided by the present invention. As Figure 1 shown, the method includes the following steps:

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

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

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

[0047] Among them, the image acquisition device is defaulted to a camera, 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] Perform image preprocessing, image matching, image three-dimensional solution and three-dimensional coordinate transformation on the original image in sequence to obtain the digital elevation terrain data.

[0049] Among them, image preprocessing supports information enhancement display for imaging under frontlight / backlight conditions, supports enhancement and epipolar line generation for binocular images, and has the ability of piecewise linear enhancement and non-linear transformation enhancement. Image matching (dense point matching) is completed based on methods such as least squares, and the image correlation coefficient is output. Image three-dimensional solution forms a denoised three-dimensional point cloud through filtering processing according to dense point matching and intersection results. Three-dimensional coordinate transformation is based on the dense three-dimensional point cloud, and a regular grid DEM data is generated through interpolation; a DOM texture image is generated through two-dimensional map mapping calculation.

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

[0051] Based on the image data of the surveillance camera and the active mechanism camera, read the digital elevation terrain data. According to the principle of computer vision, use cooperative targets such as target points or natural features, and use various positioning methods such as the PNP algorithm and real-time image and reference map interpretation and comparison to calculate the position and attitude of the target in the field of view and the robotic arm carrying the camera (visual positioning). Among them:

[0052] ① Target point extraction. The tracking target point matching algorithm for target points uses the overall characteristics of the target point distribution and combines the results of the position and attitude changes of the sequence images (obtained from the changes in the robotic arm parameters) for tracking to obtain the correct mapping relationship of the target points between the sequence images.

[0053] First, use the target feature extraction method to extract the target features in the image, obtain the positions of the target points in the image, and then calculate the projection positions of the target points on the current image using the initial pose parameters of the image. Calculate the local region template using the distribution of the target point images in the previous frame, and use the distance between the target projection position and the extracted target position and the template similarity measure as the tracking cost. Search for the mapping combination with the minimum overall tracking cost as the optimal tracking result.

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

[0055] ③ PNP positioning solution. First, at least four non-coplanar control points need to be determined in the world coordinate system, and these points are usually calculated from the feature points in the actual scene through the principal component analysis method. Calculate the weight factor α according to the coordinates of the known reference points (feature points) in the world coordinate system. Calculate the coordinates of these four control points in the camera coordinate system, as well as the coordinates of the reference points in the camera coordinate system. Using the above information, estimate the position and orientation of the camera through an iterative optimization method. This step usually involves complex mathematical operations, including linear algebra and optimization theory. Continuously adjust the pose of the camera through iteration until a certain convergence condition is met.

[0056] S2. According to the target prediction information, generate the target planning result for lunar surface sampling, and combine 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 pose parameters to perform simulation verification on the target planning result.

[0057] Among them, the target prediction information includes: TT&C tracking prediction, solar altitude angle and azimuth angle prediction, etc. The target planning result includes: the overall sampling task planning result, the active mechanism planning result, and the command plan planning result. The active mechanism includes: solar panels, directional antennas, robotic arms, etc. The active mechanism planning result includes: solar panel motion planning, directional antenna motion planning, robotic arm motion planning. Specifically:

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

[0059] a) Output the solar altitude angle and azimuth angle prediction in the mechanical system.

[0060] b) Combine the current angle of the solar wing to calculate the angle between the normal of the solar wing and the solar vector.

[0061] c) Calculate the output time for the solar panel adjustment when its difference exceeds the threshold value.

[0062] d) Calculate the rotation angles of the +Z solar panel and the -Z solar panel respectively according to the solar panel adjustment time and the optimal pointing principle of the lander's solar panel.

[0063] 2) Motion planning of the directional antenna. The input data for the motion planning of the directional antenna is the TT&C tracking prediction file, and the output results are of three types: visible window, planning result, and detailed planning result. The visible window specifies the continuous tracking arc segment generated under the condition of the directional antenna relay tracking; the planning result refers to outputting the antenna pointing, time, and the start time of the antenna movement at a certain interval; the detailed planning result refers to outputting the angles of the two axes of the antenna within the visible window. The calculation process is as follows:

[0064] a) Calculate the visible window of the antenna according to the antenna rotation constraint.

[0065] b) Calculate the antenna pointing, time, and the start time of the antenna movement at a certain interval according to the visible window.

[0066] c) Output the detailed planning result according to the visible window.

[0067] 3) Motion planning of the robotic arm.

[0068] a) Forward kinematics. The problem of solving forward kinematics can be briefly described as knowing the rotation angles of each joint of the robotic arm and solving the pose of the end effector of the robotic arm. The DH parameters are used to describe the motion relationship of the mechanism. Each link is described by the coordinate system fixed on it to represent its position and attitude. The origin of the fixed coordinate system represents the spatial position of the joint, and the three axes represent the spatial attitude of the link. According to the specific structural characteristics of the robotic arm, the base is used as the fixed reference coordinate system, and a coordinate system is established for each link in turn to give the forward kinematics model.

[0069] b) Inverse kinematics. The problem of inverse kinematics is to know the pose information of the end effector and solve the rotation angles of each joint based on this, which is the inverse solution process of the forward kinematics problem.

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

[0071] 4) The process of simulating and verifying the target planning result by 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 pose parameters specifically includes:

[0072] Based on the mechanism parameters of the moving mechanism, the simulation model of the moving mechanism, the digital elevation terrain data, and the pose parameters of the robotic arm, receive a simulation verification request, simulate the movement process (target planning result) of the moving mechanism during the sampling process, and verify the correctness of the planned control parameters and instruction plans, including the Cartesian motion calculation model of the robotic arm, the joint space motion calculation model of the robotic arm, and the directional antenna return verification model. Specifically:

[0073] 1) For the Cartesian motion calculation model and the joint space operation calculation model of the robotic arm, according to the Cartesian motion planning result and the joint space planning result of the robotic arm, parse the intermediate result file of the strategy planning and the injection data file, and construct a verification sequence. After construction, perform inverse kinematics simulation on the robotic arm motion trajectory, output the robotic arm trajectory point by point, provide the robotic arm motion state, verify the reachability of the motion planning, and estimate the robotic arm motion trajectory.

[0074] 2) The antenna planning verification model performs antenna motion process simulation according to the antenna motion control parameters in the antenna planning strategy, combines the antenna motion speed, performs legal verification on the antenna motion polarity, and verifies whether the antenna is within the visible range during the motion process.

[0075] S3. When the target planning result passes the verification, perform lunar surface sampling control according to the target planning result.

[0076] In an alternative manner, it further includes:

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

[0078] Among them, adopt automated analysis and evaluation techniques to conduct statistical analysis on the sampling time, sampling times, and sampling volume on the lunar surface, form an evaluation result of the lunar surface sampling process, and provide technical support for mission decision-making, etc. Specifically: receive the detector telemetry parameter data, simulation verification data, and target planning result, conduct interpretation of the motion intermediate points during the movement process of the moving mechanism, comprehensively display the sampling situation in real time based on process information such as the time consumed for the current sampling process, the average time for a single sampling, and the remaining sampling duration, and calculate the time for triggering the sampling process based on important events or telemetry status after a sampling is completed.

[0079] In an alternative manner, it further includes:

[0080] Visually display the process of lunar surface sampling control.

[0081] Among them, receive the digital elevation terrain data, simulation verification data, and target planning result, and complete the visual display of the lunar surface three-dimensional terrain environment, the control strategy of the moving mechanism, the sampling process status, and the 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 shown, aiming to solve the problems of low visual positioning accuracy, slow planning speed, weak monitoring and interpretation means, low sampling efficiency, etc. of the existing lunar surface sampling system in complex and uncertain terrains. Figure 2 The operation platform in adopts the visual operation platform technology to provide a visual operation platform for ground control and realize the visual 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 on the lunar surface.

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

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

[0086] The processing module 220 is configured 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 moving mechanism for lunar surface sampling, the mechanism parameters of the moving mechanism, and the pose parameters;

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

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

[0089] Use the image acquisition device to acquire the original image of the lunar surface;

[0090] Perform image preprocessing, image matching, image three-dimensional solution, and three-dimensional coordinate transformation on the original image in sequence to obtain the digital elevation terrain data.

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

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

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

[0094] In an alternative embodiment, it further includes a display module, which is configured to:

[0095] Visually display the process of lunar surface sampling control.

[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] For the parameters and steps of each module in the lunar surface sampling ground control system 200 of this embodiment to implement corresponding functions, reference can be made to the parameters and steps in the embodiment of the lunar surface sampling ground control method in the above text, which will not be elaborated here.

[0098] As Figure 4 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 at least one computer program 330 is stored in the memory 310. The at least one computer program 330 is loaded and executed by the processor 320 to enable the electronic device 300 to implement any one of the above lunar surface sampling ground control methods. Specifically:

[0099] The electronic device 300 may vary greatly due to configuration or performance differences. It may include one or more processors 320 (Central Processing Units, CPUs) and one or more memories 310. Among them, at least one computer program 330 is stored in the one or more memories 310, and the at least one computer program 330 is loaded and executed by the one or more processors 320 to enable the electronic device 300 to implement any one 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 wired or wireless network interfaces, keyboards, and input / output interfaces for input / output. The electronic device 300 may further include other components for implementing device functions, which will not be elaborated 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 to enable a computer to implement any one of the above 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 read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0102] In an exemplary embodiment, a computer program product or a computer program is further provided. The computer program product or the computer program includes computer instructions 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 to enable the electronic device to execute any one of the above lunar surface sampling ground control methods.

[0103] It should be noted that the terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, rather than to limit a specific order or sequence. In appropriate cases, the order of use of similar objects can be interchanged so that the embodiments of the present application described here can be implemented in an order other than the illustrated or described order.

[0104] Those skilled in the art know that the present invention can be implemented as a system, a method, or a computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, that is: it can be completely hardware, can also be completely software (including firmware, resident software, microcode, etc.), and can also be a combination of hardware and software, generally referred to as "circuit", "module" or "system" in this article. 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 media contains computer-readable program code.

[0105] Any combination of one or more computer-readable media can be adopted. The computer-readable media can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium 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 of the above. In this application, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, device, or component.

[0106] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A ground control system for lunar surface sampling, characterized in that, By constructing multiple units including terrain establishment, visual positioning, mission planning, active mechanism planning, simulation verification, analysis and evaluation, three-dimensional display, and operation platform, a ground control system for lunar surface sampling is established. The system includes: an acquisition module, a processing module, a control module, an evaluation module, and a display module; The acquisition module is used to: utilize an image acquisition device to obtain the original image of the lunar surface; sequentially perform image preprocessing, image matching, three-dimensional image resolution and three-dimensional coordinate transformation on the original image to obtain digital elevation terrain data; based on the image data of the monitoring camera and the active mechanism camera, read the digital elevation terrain data, and according to the principle of computer vision, use a target or natural features, and use the PNP algorithm to calculate the pose parameters of the robotic arm associated with the image acquisition device for lunar surface sampling by comparing and interpreting the real-time image with the reference map; The processing module is used to: generate a target planning result for lunar surface sampling according to the target prediction information, and combine 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 pose parameters to perform simulation verification on the target planning result; wherein, the target prediction information includes: tracking and control prediction, solar altitude and azimuth prediction; the target planning result includes: the overall sampling task planning result, the active mechanism planning result, and the command plan planning result; the active mechanism includes: solar panels, directional antennas, robotic arms; the active mechanism planning result includes: solar panel movement planning, directional antenna movement planning, robotic arm movement planning; The process of performing simulation verification on the target planning result by 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 pose parameters specifically includes: According to the mechanism parameters of the active mechanism, the simulation model of the active mechanism, the digital elevation terrain data, and the pose parameters of the robotic arm, receive a simulation verification request, perform a simulation of the target planning result of the sampling process, and verify the correctness of the planned control parameters and command plans, including the robotic arm Cartesian motion calculation model, the robotic arm joint space motion calculation model, and the directional antenna return verification model; Among them, for the robotic arm Cartesian motion calculation model and the joint space operation calculation model, according to the robotic arm Cartesian motion planning result and the joint space planning result, parse the intermediate result file of the strategy planning and the injection data file, and construct a verification sequence; after the construction is completed, perform inverse kinematics simulation on the robotic arm movement trajectory, output the robotic arm trajectory point by point, provide the robotic arm movement state, verify the reachability of the movement planning, and estimate the robotic arm movement trajectory; The control module is used to: when the target planning result passes the verification, perform lunar surface sampling control according to the target planning result; The evaluation module is used for: analyzing and evaluating the process of lunar surface sampling control; among them, adopting an automated analysis and evaluation technology to conduct statistical analysis on the sampling time, sampling times, and sampling volume of the lunar surface, forming an evaluation result of the lunar surface sampling process, and providing technical support for mission decision-making; specifically: receiving detector telemetry parameter data, simulation verification data, and target planning results, conducting an interpretation of the motion intermediate points during the movement of the active mechanism, comprehensively displaying the sampling situation in real time based on the time consumed in the current sampling process, the average time of a single sampling, and the remaining sampling duration, and calculating the time for triggering the sampling process based on important events or telemetry status after a single sampling is completed; The display module is used for: visually displaying the process of lunar surface sampling control; among them, receiving digital elevation terrain data, simulation verification data, and target planning results, and completing the visual display of the lunar surface three-dimensional terrain environment, active mechanism control strategy, sampling process status, and control execution effect during the lunar surface sampling process.

2. An electronic device, characterized in that, The electronic device includes a processor, the processor is coupled with a memory, and at least one computer program is stored in the memory. 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 system as described in claim 1.

3. A computer-readable storage medium, characterized in that, At least one computer program is stored in the computer-readable storage medium. The at least one computer program is loaded and executed by a processor so that the computer-readable storage medium implements the lunar surface sampling ground control system as described in claim 1.

Images