月面复杂地形表层采样可采点确定方法
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摘要
表层采样是获取地外天体特性的重要手段,是目前原位探测与采样返回样品获取的重要方式。实施月球表层采样过程中,月面复杂地形将对大尺度采样器工作带来约束。结合一类大尺度表层采样器,分析了月面复杂地形的影响,提出了表层采样的可采样充分条件,构建了以可视区分区、分区延伸、局部平均法向量稀疏、基点包覆检测相结合的并行可采点确定方法。仿真结果表明,该方法可准确确定复杂地形下表层采样可采点,分区并行计算可有效提升可采点的确定效率。
Surface sampling,applied in situ exploration and sample return mission at this stage,is an important method of acquiring extraterrestrial body characteristics. For big sampler, some constraints are introduced into lunar surface sampling process under uneven terrain. The influences of uneven terrain were analyzed, considering a class of big scaled sampler. The sufficient condition of adoptable surface sampling was proposed, and the establishing method of adoptable point which contains visual subarea division, subarea extension, local average normal vector sparse and base point sphere detection was constructed. Numerical simulations demonstrate the effectiveness of the establishing approach, and the speediness of subarea and parallel computing.
Surface sampling,applied in situ exploration and sample return mission at this stage,is an important method of acquiring extraterrestrial body characteristics. For big sampler, some constraints are introduced into lunar surface sampling process under uneven terrain. The influences of uneven terrain were analyzed, considering a class of big scaled sampler. The sufficient condition of adoptable surface sampling was proposed, and the establishing method of adoptable point which contains visual subarea division, subarea extension, local average normal vector sparse and base point sphere detection was constructed. Numerical simulations demonstrate the effectiveness of the establishing approach, and the speediness of subarea and parallel computing.
引文
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[8] ALEXASHKIN S N,ZAIKO Y K,SUTUGIN S E,et al.Phobos-Grunt soil sampling device[J].Solar System Research,2012,46(7) :555-561.
[9] SUN Z Z,JIA Y,ZHANG H.Technological advancements and promotion roles of Chang′e-3 lunar probe mission[J].Science China Technological Sciences,2013,56(11):2702-2708.
[10] 吴克,冷舒,李群智,等.嫦娥三号月面巡视探测器机械臂就位探测规划[J].宇航学报,2015,36(4) :375-376.WU K,LENG S,LI Q Z,et al.In-Situ manipulator exploration planning of Chang′e-3 lunar rover[J].Journal of Astronautics,2015,36(4) :375-376 (in Chinese).
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[12] BONITZ R G,SLOSTAD J,BON B,et al.Mars volatiles and climate surveyor robotic arm[J].Journal of Geophysical Research,2001,106(E8):17631-17632.
[13] 郑燕红,邓湘金,彭兢,等.基于人工势场法的月球表层采样装置避障规划[J].中国空间科学技术,2015,35(6):66-71.ZHENG Y H,DENG X J,PENG J,et al.Lunar surface sampling device collision avoidance planning based on artificial potential field method[J].Chinese Space Science and Technology,2015,35(6):66-71(in Chinese).
[14] 梁常春,孙鹏飞,王耀兵,等.行星采样柔性机械臂运动规划研究[J].深空探测学报,2015,2(1):27-29.LIANG C C,SUN P F,WANG Y B,et al.Motion planning of sampling flexible manipulator on planet[J].Journal of Deep Space Exploration,2015,2(1):27-29(in Chinese).
[15] 王晓文.基于双目视觉的三维重建算法研究[D].天津:华中科技大学,2015.WANG X W.Research of 3D reconstruction algorithm based on binocular vision[D].Tianjin:Tianjin University,2015(in Chinese).