全齐全, 史晓萌, 唐德威, 邓宗全, 姜生元. 模拟月壤-模拟月岩交界面钻进特征提取与辨识[J]. 机器人, 2015, 37(3): 351-360. DOI: 10.13973/j.cnki.robot.2015.0351
引用本文: 全齐全, 史晓萌, 唐德威, 邓宗全, 姜生元. 模拟月壤-模拟月岩交界面钻进特征提取与辨识[J]. 机器人, 2015, 37(3): 351-360. DOI: 10.13973/j.cnki.robot.2015.0351
QUAN Qiquan, SHI Xiaomeng, TANG Dewei, DENG Zongquan, JIANG Shengyuan. Extraction and Recognition of Drilling Characteristics on Interface between Simulants of Lunar Soil and Lunar Rock[J]. ROBOT, 2015, 37(3): 351-360. DOI: 10.13973/j.cnki.robot.2015.0351
Citation: QUAN Qiquan, SHI Xiaomeng, TANG Dewei, DENG Zongquan, JIANG Shengyuan. Extraction and Recognition of Drilling Characteristics on Interface between Simulants of Lunar Soil and Lunar Rock[J]. ROBOT, 2015, 37(3): 351-360. DOI: 10.13973/j.cnki.robot.2015.0351

模拟月壤-模拟月岩交界面钻进特征提取与辨识

Extraction and Recognition of Drilling Characteristics on Interface between Simulants of Lunar Soil and Lunar Rock

  • 摘要: 为提高月壤-月岩交界面处的钻进工况辨识速度,分析了钻刃接触及侵入岩块 过程中的钻进状态监测信号特征,提出一种基于连续小波变换的钻进对象交界面识别方法.该方法能够确 定识别月壤-月岩交界面的小波变换阈值,其辨识结果不受钻进动力参数和噪声信号的影响.模拟月壤和 模拟月岩分层钻进试验结果表明所提出的方法能够及时感知钻进对象的变化并调整钻进动力参数,实现 具有环境适应性的无人自主钻取采样.

     

    Abstract: To improve the recognition speed at the interface between lunar soil and lunar rock, the characteristics of drilling signals when the blades contacting and penetrating rock block are analyzed, and an interface recognition method based on continuous wavelet transform is proposed. This method provides the threshold of continuous wavelet transform to detect the contact status at the interface. The detection results are insensitive to the drilling parameters and have anti-noise capability. The experimental results of drilling lunar soil simulant and lunar rock simulant multilayered medium indicate that the proposed method is capable of detecting drill media variation promptly and adjusting the drilling parameters, and can realize autonomous drilling and sampling with environment adaptability.

     

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