Detection point autonomous selection strategy based on three-dimensional environment model

Abstract

The embodiment of the invention provides a detection point autonomous selection strategy based on a three-dimensional environment model, and the method achieves the autonomous selection of a detectionpoint by a patrol device according to the three-dimensional environment model. The strategy comprises the steps: obtaining a lunar surface three-dimensional environment model; according to the lunarsurface three-dimensional environment model and the lunar surface inspector structure characteristics, constructing an operation cost function meeting lunar surface inspector advancing conditions, andobtaining a safe operation area of the lunar surface inspector; and obtaining the position of an optimal detection point in the safety operation area of the lunar rover according to the safety operation area of the lunar rover and a flatness evaluation index constructed according to the requirement of detection equipment carried by the lunar rover on the terrain flatness of the lunar surface where the detection point is located. According to the technical scheme provided by the embodiment of the invention, the scientificity and superiority of detection point selection can be effectively improved.

Description

【Technical field】 [0001] The invention relates to an autonomous selection strategy of detection points based on a three-dimensional environment model, which belongs to the field of detection. 【Background technique】 [0002] The moon is rich in mineral resources and energy resources, and it is of great value to explore and develop the surface of the moon. The lunar surface patrol is a spacecraft that can adapt to the lunar environment, carry scientific instruments to move on the lunar surface, and complete tasks such as detection, sampling, and delivery. Therefore, it is of great significance to use the lunar surface patrol to perform robotic arm detection tasks on the lunar surface. . When using the lunar surface patrol to carry out lunar soil exploration missions, it is first necessary to determine the location of the detection point, then the lunar surface patrol uses the detection point as the target to plan the path, and executes subsequent detection tasks after running...

AI Technical Summary

Problems solved by technology

[0003] Currently, the selection of detection points on the lunar surface is usually taken by the operator based on the camera carried by the lunar surface patrol device. Based on experience, the detection points are artificially selected, which leads to the failure of the detection task due to improper selection of detection points. happens from time to time

The reason is that the detection points selected subjectively by humans may not be the most suitable points for the operation of the lunar surface patrol. The subjective factors have a great influence, lack of scientific theoretical support, and at the same time, the environmental information collected by the camera and the three-dimensional points of the lunar surface generated by the image are not fully utilized. cloud information

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