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.
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.
出处
《机器人》
EI
CSCD
北大核心
2015年第3期351-360,共10页
Robot
基金
国家自然科学基金资助项目(61403106)
高等学校学科创新引智计划资助项目(B07018)
中央高校基本科研业务费专项基金资助项目(HIT.KLOF.2010052)
黑龙江省博士后基金资助项目(LBH-Z11168)
中国博士后基金资助项目(2012M520722)
关键词
模拟月壤
模拟月岩
钻进特征
在线辨识
小波变换
simulant of lunar soil
simulant of lunar rock
drilling characteristic
online recognition
wavelet transform
