Autonomous control method for lunar soil water ice drilling and mining

Abstract

The invention discloses an autonomous control method for lunar soil water ice drilling and mining, which comprises the following steps of: judging modes in sequence: judging a drilling mode which should be used at present according to the states of a rotary motor and a feed motor; rotation adjustment, wherein the starting time and the rotation speed of a rotation motor are controlled based on the current drilling mode and the current drilling progress; feeding adjustment is conducted, specifically, based on the current drilling mode and the drilling progress, the starting time of a feeding motor is controlled, and the feeding speed is controlled according to the drilling pressure variance and the rotation torque variance; impact adjustment: when the drilling mode is judged to be the water-containing lunar soil breakthrough mode, the impact frequency is adjusted according to the feeding speed; and when the drilling mode is judged to be the drilling blocking mode, the drilling tool assembly is made to be separated from the drilling blocking mode. According to the invention, lunar water-ice sampling can be completed under the conditions of environment deep hypothermia characteristics, target high-fidelity sampling requirements and low counterforce constraints, and the water-ice drilling requirements of the polar region of the lunar are met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deep space exploration drilling, in particular to a lunar soil water ice drilling autonomous control method. BACKGROUND

[0002] Research shows that 20% to 50% of the water on the moon is stored in the form of ice in the permanently shadowed areas of the lunar polar impact craters. These water ice is likely to have preserved the water brought by comets or asteroids billions of years ago, and is of great significance to the in-depth understanding of the formation mechanism of early water in the solar system and the later fractionation evolution process; the in-situ development and utilization of water ice in the lunar polar region can solve the problem of drinking water supply and oxygen supply for human survival in the construction of lunar base. At present, the water ice sampling through drilling is a more feasible scheme.

[0003] According to the existing research, the lunar polar water ice has the characteristics of easy volatilization and uncertain physical properties. When the maximum temperature of the water ice lunar soil sample is limited to not more than 200K, the water content loss percentage within 1h can be guaranteed to be not more than 10%. Due to the heat generation during drilling, if the rotation speed of the drilling tool is not controlled, the water ice is easy to volatilize. Because the spacecraft carrying the drilling tool has limited carrying capacity, the drilling tool is relatively light, so when encountering water ice with high hardness, an impact device needs to be attached to the top of the drilling tool to assist in drilling; when the drill bit is in dry soil with low hardness, the impact device needs to be turned off to ensure that the sample attached to the drilling tool does not fall off. When the spiral wing of the drilling tool contacts with the stone, it may be stuck, and needs to be disengaged to continue drilling.

[0004] In summary, in combination with the background that the solar wing cannot generate electricity in the permanently shadowed crater and the drilling time is limited, the traditional fixed procedure drilling method is difficult to meet the needs of lunar polar water ice drilling. SUMMARY

[0005] The technical problem solved by the present application is to overcome the shortcomings of the prior art and provide a lunar soil water ice drilling autonomous control method to complete lunar water ice sampling under the consideration of environmental deep low temperature characteristics, target high-fidelity sampling requirements, low reaction force constraints and other difficulties.

[0006] The technical solution of the present application is to provide a lunar soil water ice drilling autonomous control method for controlling a drilling sampling device to collect samples from lunar soil water ice. The drilling sampling device includes a feeding mechanism, a rotary impact mechanism and a drilling tool assembly. The feeding mechanism includes a feeding motor for realizing the feeding and back-off of the drilling tool assembly in the depth direction. The rotary impact mechanism includes a rotary motor and an impact motor for providing rotary force and impact force for the drilling tool assembly.

[0007] The control method comprises the following steps: sequentially performing mode judgment, rotary adjustment, feeding adjustment, impact adjustment and drilling blocking autonomous disengagement until the target depth is reached.

[0008] The mode judging judges the current drilling mode to be used according to the states of the rotary motor and the feeding motor; the drilling mode includes a dry soil drilling mode, a water-containing lunar soil breakthrough mode and a stuck drill mode;

[0009] The rotary adjusting controls the opening time and the rotary speed of the rotary motor based on the current drilling mode and the drilling progress;

[0010] The feeding adjusting controls the opening time of the feeding motor based on the current drilling mode and the drilling progress, and controls the feeding speed according to the drilling pressure variance and the rotary torque variance; the drilling pressure is the force in the vertical direction between the drilling assembly and the lunar soil; the rotary torque is the output torque of the rotary motor;

[0011] The impact adjusting is executed only when the drilling mode is judged as the water-containing lunar soil breakthrough mode, and is used to adjust the impact frequency according to the size of the feeding speed;

[0012] The stuck drill autonomous escape is executed when the drilling mode is judged as the stuck drill mode, and is used to make the drilling assembly escape from the stuck drill mode; specifically, the feeding motor is controlled to continuously exert a drill lifting force, and the motion mode of the rotary motor is sequentially switched during the continuous exertion of the drill lifting force, and the motion modes are in turn forward rotation, stop, reverse rotation, and reverse rotation with an increased current limiting value.

[0013] Further, the specific judging mode of the mode judging is as follows:

[0014] If the rotary motor is in the current limiting state for more than a preset time length, the current drilling mode is the stuck drill mode;

[0015] If the rotary motor is not current limited and the feeding motor is in the current limiting state for more than a preset time length, the current drilling mode is the water-containing lunar soil breakthrough mode;

[0016] If neither the feeding motor nor the rotary motor is current limited, the current drilling mode is the dry soil drilling mode.

[0017] Further, the control mode of the feeding speed is as follows:

[0018] The feeding speed is divided into 1-X gears from low to high, X is a positive integer; the initial default adopted feeding speed is the highest gear; the safety threshold and the danger threshold of the feeding speed are set; the drilling pressure variance and the rotary torque variance are calculated once every m seconds, m is a positive integer; if the drilling pressure variance and the rotary torque variance are both higher than the danger threshold, the feeding speed is directly reduced to the lowest gear; if the drilling pressure variance and the rotary torque variance are both lower than the safety threshold, the feeding speed is increased by 1 gear based on the current gear, and if the current state is already the highest gear, the feeding speed remains unchanged; except for the above two cases, the current gear remains unchanged.

[0019] Further, X is 3-6, and m is 1-10.

[0020] Further, the adjustment mode of the impact frequency is: the impact frequency is divided into a low-frequency range and a high-frequency range; a speed-up threshold and a speed-down threshold of the impact frequency are set, the speed-up threshold is smaller than the speed-down threshold; after the impact is started, the low-frequency range is initially used by default; the average feed speed is calculated every n seconds, n is a positive integer; if the current is in the low-frequency range: if the average feed speed < the speed-up threshold, the impact frequency is raised to the high-frequency range, and if the average feed speed >= the speed-up threshold, the impact frequency is kept as the low-frequency range; if the current is in the high-frequency range: if the average feed speed > the speed-down threshold, the impact frequency is lowered to the low-frequency range, and if the speed-up threshold <= the average feed speed and <= the speed-down threshold, the impact frequency is kept as the high-frequency range; if the feed speed < the speed-up threshold, the impact frequency is kept as the high-frequency range, and an alarm is sent to the ground.

[0021] Further, the low-frequency range is 4-6 Hz, the high-frequency range is 9-11 Hz, and n is 2-8.

[0022] Further, the control feed motor continuously applies a lifting force, and during the continuous application of the lifting force, the movement mode of the rotary motor is sequentially switched, including forward rotation, stop rotation, reverse rotation, and reverse rotation with increased current limiting value, and the specific mode is:

[0023] The stuck drill autonomous escape is divided into measure 1: forward rotation to lift the drill, measure 2: stop rotation to lift the drill, measure 3: reverse rotation to lift the drill, and measure 4: reverse rotation to lift the drill with increased current limiting value.

[0024] The measures 1-4 are sequentially taken; when a certain measure is executed, if the stuck drill escape fails, the next measure is executed, if the stuck drill escape succeeds, the next measure is not executed, and the mode is judged; if measure 4 is executed and the stuck drill escape still fails, it is determined that the autonomous escape fails, all motors are stopped, and an alarm is sent to the ground.

[0025] Further, the stuck drill escape success judgment mode is that the drill assembly is lifted to the expected depth.

[0026] The stuck drill escape failure judgment mode is that the feed motor is in a current limiting state and is in the state for more than a preset time length.

[0027] Further, before the mode judgment, safety monitoring is further included; the safety monitoring is used to judge whether the angle of the swing mechanism exceeds a safety threshold, and if so, the drilling is stopped and an alarm is sent to the ground; if not, the mode is judged.

[0028] The present application also relates to a computer program product, which, when executed by a processor, implements the steps of the method as described above.

[0029] The advantages of this invention compared to the prior art are:

[0030] (1) Currently, there is no successful application of autonomous control methods for drilling and mining lunar soil water ice in actual missions. This invention designs the autonomous control of drilling in lunar soil water ice drilling and mining missions into multiple linear sub-steps, namely safety monitoring, mode judgment, rotation adjustment, feed adjustment, impact adjustment, and autonomous escape from drilling blockage, which is the first of its kind. After extensive multi-condition tests, it has been verified that it is applicable to lunar soil under various conditions from nominal to extreme, has universality, significantly shortens drilling time, and improves drilling and hoisting safety.

[0031] (2) In the technical solution of this invention, the drilling conditions for lunar soil water ice are divided into three types: ordinary dry soil drilling condition, water-bearing lunar soil drilling condition, and drill blockage condition. The drill blockage condition is determined by limiting the current of the rotary motor; the water-bearing lunar soil condition is determined by not limiting the current of the rotary motor and limiting the current of the feed motor; and the ordinary dry soil condition is determined by not limiting the current of either the feed or rotary motor. By determining the type of lunar soil being drilled, different strategies can be adopted.

[0032] (3) In the control of the feed speed of the present invention, the feed speed is divided into 5 levels. The variance of drilling pressure and slewing torque over a period of time is used as the basis for judgment. By comparing the variance of drilling pressure and slewing torque with the safety threshold and the danger threshold, the fluctuation state of drilling load during drilling is perceived, and the feed speed is adjusted accordingly.

[0033] (4) The present invention uses a multi-stage progressive mechanism to lift the drill bit while rotating forward, lifting the drill bit while stopping, lifting the drill bit while rotating backward, and lifting the drill bit while rotating backward, and increasing the current limiting value of the rotary motor. By cleverly changing the rotation direction and output torque during the lifting process, the mechanical state of the interaction between the drill bit and the lunar soil is dynamically changed, and a comprehensive response is made to different causes of blockage, which greatly improves the success rate and reliability of solving complex blockage situations. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the drilling and sampling device used in this invention.

[0035] Figure 2 This is a flowchart of the autonomous control method of the present invention;

[0036] Figure 3 This is a schematic diagram illustrating the operating principle of the autonomous control method of the present invention. Detailed Implementation

[0037] To better understand the technical solution of the present invention, the specific embodiments of the present invention are described below.

[0038] To better understand the autonomous control method for drilling and producing lunar soil water ice proposed in this invention, we will first briefly introduce the application objects and application scenarios of this method.

[0039] The application of this method, namely the drilling and sampling device, mainly consists of five parts, which can be referred to... Figure 1 The system comprises a swing mechanism, a feed mechanism, a rotary impact mechanism, a sampling mechanism, and a drill string assembly. The swing mechanism uses a stepper motor and harmonic reducer to rotate the drilling sampling device between the clamping and sampling positions. The feed mechanism uses a permanent magnet synchronous motor with a cable pulley drive principle, driving the drum to reciprocate along the guide rail via a wire rope, thus enabling the drill string assembly to feed and retract in the depth direction. One-dimensional force sensors are installed on both the upper and lower parts of the wire rope, which can calculate the vertical force between the drill string assembly and the lunar soil by measuring the wire rope tension; this force is called drilling pressure, with the drilling direction as negative and the lifting direction as positive. The rotary torque is the output torque of the rotary motor, obtained by multiplying the Q-axis current of the rotary motor by a fixed coefficient. The rotary impact mechanism uses permanent magnet synchronous motors for both the rotary and impact motors, driving the drill string assembly to rotate and achieve high-frequency impact on the drill pipe, providing rotary torque and crushing impact force for the drill pipe to cut and move the lunar soil. The sampling mechanism uses a stepper motor to drive the opening and closing of the sampling port to achieve quantitative sampling, encapsulation, and sample placement. The drill assembly cuts and impacts the lunar soil, and the spiral grooves of the drill rod collect the cuttings and obtain the sample. A temperature sensor is installed inside the drill assembly, which can collect the drill temperature in real time with an accuracy of no less than 2K within the range of 70-200K.

[0040] The application scenario of this invention is for a spacecraft carrying a drilling and sampling device to collect samples within a lunar shadow crater. Before the spacecraft lands in the shadow crater, the drilling and sampling device is in a compressed state to withstand the mechanical environment during spacecraft launch, takeoff, and movement. After the spacecraft lands in the shadow crater and reaches the sampling point, the drilling and sampling device moves to the drilling configuration via a swing mechanism. At this point, the drill bit is perpendicular to the lunar regolith surface or at an angle of no more than 8°. The lunar regolith conditions are unknown before the mission begins, but it is necessary to ensure that there are no large, visible rocks on the lunar regolith surface at the drilling point. During the drilling phase, the feed mechanism and the rotary impact mechanism work together to drill to a depth of approximately 1 meter. After reaching the target depth, the drill bit is lifted, and the sample collected in the spiral groove is guided into the sampling mechanism through a brush wheel on the outside of the drill bit, completing the sample collection. The method of this invention is a method for controlling the coordinated movement of the feed mechanism and the rotary impact mechanism during the drilling phase, which is the most complex and risky phase of sample collection. Control schemes for other mission phases are not within the scope of this invention.

[0041] The method of this invention refers to Figure 2As shown, the system includes mode determination, slewing adjustment, feed adjustment, impact adjustment, and autonomous escape from drilling blockage. Within one control cycle, each step is executed sequentially until the target depth is reached. Preferably, it also includes safety monitoring before mode determination. In cases where this autonomous control method cannot handle the situation, a command can be sent to switch the control to manual mode. In manual mode, autonomous control stops operating, and the ground directly controls each mechanism via commands. Taking a 50ms control cycle as an example, the specific design of each step is as follows:

[0042] (1) Safety monitoring

[0043] During drilling, encountering rocks or hard water ice can cause the reaction force on the drill string to reverse the rotation mechanism connecting the drilling rig and the aircraft, causing the rotation mechanism to deviate from its initial drilling position. If this deviation exceeds a certain threshold, it will significantly increase the probability of drill blockage and damage the rotation mechanism. Therefore, safety monitoring can be added at the beginning of the autonomous control method.

[0044] The specific method is as follows: if the angle of the swing mechanism exceeds the safety threshold, drilling will stop and an alarm will be sent to the ground; if it does not exceed the safety threshold, the next step will be executed.

[0045] (2) Pattern judgment

[0046] Because dry lunar soil and water-bearing lunar soil have significantly different physical properties, autonomous control methods need to determine which type of lunar soil the object is in in order to adopt different strategies.

[0047] The specific method is as follows: the drilling modes are divided into dry soil drilling mode, water-bearing lunar soil breakthrough mode, and drill blockage mode; the initial default is dry soil drilling mode. When the mode is dry soil drilling mode, only the rotary and feed motors are turned on; when the mode is water-bearing lunar soil breakthrough mode, the rotary, feed, and impact motors are turned on simultaneously; when the mode is drill blockage mode, drill blockage is in progress, and this step is ended directly.

[0048] Specifically, the drilling mode to be used is determined based on the status of the rotary motor and the feed motor. If the rotary motor is in a current-limited state and this state lasts for a certain period of time, the current drilling mode is the blockage mode. If the rotary motor is not in a current-limited state and the feed motor is in a current-limited state and this state lasts for a certain period of time, the current drilling mode is the water-bearing lunar soil breakthrough mode. If neither the feed motor nor the rotary motor is in a current-limited state, the current drilling mode is the dry soil drilling mode.

[0049] (3) Rotation adjustment

[0050] Upon entering this step, the first step is to determine if the current drilling mode is blocked. If it is, this step is skipped. Since the rotary motor does not need to be turned on before the drill string contacts the lunar soil after drilling begins, a threshold for the rotary motor's activation depth is set. The drilling depth is read each cycle. When drilling has not reached the activation depth, the rotary speed is constantly set to 0. Once the activation depth is reached, the rotary motor is turned on, and the rotary speed is controlled. Rotary speed control is divided into two modes: a self-adjusting rotary speed off mode, where the rotary parameters are fixed; and a self-adjusting rotary speed on mode, where the rotary speed is automatically adjusted.

[0051] (4) Feed adjustment

[0052] Similar to the rotation speed adjustment, first determine whether the current mode is blocked. If so, or if the drill string has not yet entered the lunar soil, skip this step; otherwise, start the feed motor and control the feed speed according to the variance of drilling pressure and the variance of rotation torque.

[0053] Specifically, the feed rate is divided into 1 to 5 levels from low to high; the initial default feed rate is the highest level; a safety threshold and a danger threshold are set for the feed rate; the variance of drilling pressure and the variance of slewing torque are calculated every 5 seconds; if the variance of drilling pressure and the variance of slewing torque are higher than the danger threshold, the feed rate is directly reduced to the lowest level; if the variance of drilling pressure and the variance of slewing torque are both lower than the safety threshold, the feed rate is increased by 1 level from the current level; if the current state is already the highest level, it remains unchanged; except for the above two cases, the current level is kept unchanged.

[0054] (5) Shock adjustment

[0055] Impact adjustment is only performed when the drilling mode is determined to be the water-bearing lunar soil breakthrough mode, and the impact frequency is adjusted by the feed rate.

[0056] The impact frequency is divided into 5Hz and 10Hz; the acceleration threshold and deceleration threshold of the impact frequency are set, with the acceleration threshold being less than the deceleration threshold; when the impact is activated, the initial default is 5Hz; the average feed rate is calculated every n seconds, where n is a positive integer; if the current frequency is 5Hz: if the average feed rate is less than the acceleration threshold, the impact frequency is increased to 10Hz; if the average feed rate is greater than or equal to the acceleration threshold, the impact frequency is maintained at 5Hz; if the current frequency is 10Hz: if the average feed rate is greater than the deceleration threshold, the impact frequency is decreased to 5Hz; if the acceleration threshold is less than or equal to the average feed rate and less than or equal to the deceleration threshold, the impact frequency is maintained at 10Hz; if the feed rate is less than the acceleration threshold, the impact frequency is maintained at 10Hz, and an alarm is simultaneously sent to the ground.

[0057] (6) Autonomous escape from drilling blockage

[0058] The autonomous escape mechanism from the blocked drill bit mode is activated when the drilling mode is determined to be blocked, allowing the drill string assembly to detach from the blocked mode. The specific method is as follows:

[0059] The autonomous drilling escape mechanism is divided into four measures: Measure 1: Rotary motor rotates forward and feed motor lifts the drill; Measure 2: Rotary motor stops and feed motor lifts the drill; Measure 3: Rotary motor rotates in reverse and feed motor lifts the drill; Measure 4: Rotary motor rotates in reverse and feed motor lifts the drill, and the current limiting value of the rotary motor is increased.

[0060] Measures 1 through 4 are taken sequentially. When a measure is executed, if the measure fails to resolve the blockage (the feed motor is in a current-limited state for 3 seconds, which is considered a failure), the next measure is executed. If the blockage is resolved successfully (the drill string is raised to the desired depth, i.e., the difference between the drill string depth and the desired depth is less than a fixed threshold), the next measure is not executed, and the system returns to the mode judgment. If the target drilling depth is not reached, the system enters the next cycle. If measure 4 is executed and the blockage still fails, it is judged as an autonomous resolution failure, all motors are stopped, an alarm is sent to the ground, and the system awaits ground handling.

[0061] like Figure 3 As shown, this method can be written in C language and implemented in a host computer DSP. The entire drilling and production control system consists of host computer DSP software and lower-level FPGA controller software. The DSP software is connected to the ground remote control interface, drill string temperature sensor, and tension sensor interface. It is responsible for executing the autonomous control method, receiving ground control commands, and transmitting and receiving telemetry data. The output of the DSP software each cycle is the mechanism control command for the lower-level FPGA motor controller. The FPGA motor controller is responsible for converting the mechanism control commands received from the DSP software into direct control commands for each motor.

[0062] It is understood that this invention has been described through embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this invention. Furthermore, under the teachings of this invention, these features and embodiments can be modified to adapt to specific circumstances without departing from the spirit and scope of this invention. Therefore, this invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are protected by this invention.

[0063] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. An autonomous control method for drilling and extracting lunar regolith and water ice, used to control a drilling and sampling device to collect samples of lunar regolith and water ice; the drilling and sampling device includes a feed mechanism, a rotary impact mechanism, and a drill string assembly; the feed mechanism includes a feed motor for feeding and retracting the drill string assembly in the depth direction; the rotary impact mechanism includes a rotary motor and an impact motor for providing rotary force and impact force to the drill string assembly; characterized in that: The control method is as follows: sequentially perform mode judgment, rotation adjustment, feed adjustment, impact adjustment, and autonomous drill blockage removal until the target depth is reached; The mode determination is based on the status of the rotary motor and the feed motor to determine the drilling mode to be used. The drilling modes are divided into dry soil drilling mode, water-bearing lunar soil breakthrough mode, and drill blockage mode. The rotation adjustment controls the starting timing and rotation speed of the rotary motor based on the current drilling mode and drilling progress. The feed adjustment controls the starting timing of the feed motor based on the current drilling mode and drilling progress, and controls the feed speed according to the variance of drilling pressure and the variance of rotational torque; the drilling pressure is the force in the vertical direction between the drill string assembly and the lunar soil; the rotational torque is the output torque of the rotational motor. The impact adjustment is only executed when the drilling mode is determined to be the water-bearing lunar soil breakthrough mode, and is used to adjust the impact frequency according to the magnitude of the feed rate. The automatic escape from the blocked drill bit is executed when the drilling mode is determined to be the blocked drill bit mode, and is used to get the drill bit assembly out of the blocked drill bit mode. The specific method is as follows: control the feed motor to continuously apply the drill bit lifting force, and during the continuous application of the drill bit lifting force, sequentially switch the motion mode of the rotary motor, which is forward rotation, stop rotation, reverse rotation, reverse rotation and increase the current limiting value.

2. The autonomous control method for drilling and producing lunar soil water ice according to claim 1, characterized in that: The specific determination method for the pattern is as follows: If the rotary motor is in a current-limiting state for more than a preset time, the current drilling mode is the drill blockage mode; If the rotary motor is not current-limited and the feed motor is in a current-limited state for more than a preset time, then the current drilling mode is the water-bearing lunar soil breakthrough mode. If neither the feed motor nor the rotary motor is current-limited, then the current drilling mode is the dry soil drilling mode.

3. The autonomous control method for drilling and producing lunar soil water ice according to claim 1, characterized in that: The specific method for controlling the feed rate is as follows: The feed rate is divided into levels 1 to X, from low to high, where X is a positive integer. The initial default feed rate is the highest level. Safe and dangerous thresholds for the feed rate are set. The variance of drilling pressure and the variance of slewing torque are calculated every m seconds, where m is a positive integer. If the variance of drilling pressure and the variance of slewing torque are higher than the dangerous threshold, the feed rate is directly reduced to the lowest level. If both the variance of drilling pressure and the slewing torque are lower than the safe threshold, the feed rate is increased by one level from the current level. If the current level is already the highest, it remains unchanged. Except for the above two cases, the current level is kept unchanged.

4. The autonomous control method for drilling and producing lunar soil water ice according to claim 3, characterized in that: X is 3 to 6, and m is 1 to 10.

5. The autonomous control method for drilling and producing lunar soil water ice according to claim 1, characterized in that: The specific method for adjusting the impact frequency is as follows: The impact frequency is divided into low-frequency and high-frequency levels; an acceleration threshold and a deceleration threshold are set for the impact frequency, with the acceleration threshold being less than the deceleration threshold; when the impact is activated, the initial default is low-frequency; the average feed rate is calculated every n seconds, where n is a positive integer; if the current frequency is low: if the average feed rate is less than the acceleration threshold, the impact frequency is increased to high-frequency; if the average feed rate is greater than or equal to the acceleration threshold, the impact frequency remains low-frequency; if the current frequency is high: if the average feed rate is greater than the deceleration threshold, the impact frequency is decreased to low-frequency; if the acceleration threshold is less than or equal to the average feed rate and less than or equal to the deceleration threshold, the impact frequency remains high-frequency; if the feed rate is less than the acceleration threshold, the impact frequency remains high-frequency, and an alarm is simultaneously triggered to the ground.

6. The autonomous control method for drilling and producing lunar soil water ice according to claim 5, characterized in that: The low-frequency range is 4-6Hz and the high-frequency range is 9-11Hz, with n being 2-8.

7. The autonomous control method for drilling and producing lunar soil water ice according to claim 1, characterized in that: The feed motor is controlled to continuously apply a drilling lifting force. During the continuous application of the drilling lifting force, the motion mode of the rotary motor is switched sequentially, including forward rotation, stop, reverse rotation, and reverse rotation, and the current limiting value is increased. The specific method is as follows: The autonomous drilling rig escape method is divided into four measures: measure 1: forward rotation and drilling rig lifting; measure 2: stop rotation and drilling rig lifting; measure 3: reverse rotation and drilling rig lifting; measure 4: reverse rotation and drilling rig lifting and increasing the current limit value. Measures 1 through 4 are taken in sequence. If a measure fails to block the drill and escape the trapped state, the next measure is executed. If the drill block and escape are successful, the next measure is not executed, and the system returns to the mode judgment. If measure 4 is executed and the drill block and escape are still unsuccessful, the system is judged to have failed to escape autonomously, all motors are stopped, and an alarm is sent to the ground.

8. The autonomous control method for drilling and producing lunar soil water ice according to claim 7, characterized in that: The method for determining whether a drill string has been successfully unblocked is: the drill string assembly is pulled to the desired depth. The method for determining failure to escape from a blocked drill bit is: the feed motor is in a current-limited state and remains in this state for a preset duration.

9. The autonomous control method for drilling and producing lunar soil water ice according to any one of claims 1 to 8, characterized in that: Before mode determination, safety monitoring is also included; the safety monitoring is used to determine whether the angle of the swing mechanism exceeds the safety threshold. If it exceeds the threshold, drilling is stopped and an alarm is sent to the ground; if it does not exceed the threshold, mode determination is performed.

10. A computer program product, characterized in that: When the computer program product is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 8.

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