面向月球南极水冰原位探测的微定量采样定标方法

陈西忍; 唐钧跃; 金光昊; 袁润祺; 罗石琳; 张志恒; 刘子恒; 田野; 姜生元; 贺怀宇; 李健楠; 巩雪鉴

doi:10.11728/cjss2026.02.2025-0108

面向月球南极水冰原位探测的微定量采样定标方法

doi: 10.11728/cjss2026.02.2025-0108 cstr: 32142.14.cjss.2025-0108

1.
哈尔滨工业大学机器人技术与系统全国重点实验室　哈尔滨　150001
2.
中国科学院地质与地球物理研究所　北京　100029
3.
哈尔滨商业大学　哈尔滨　150028
4.
中国空间技术研究院北京空间飞行器总体设计部　北京　100094

基金项目: 国家重点研发计划项目(2022YFA1204604), 黑龙江省重点研发计划项目(2024ZXDXB52), 深空探测全国重点实验室开发基金项目(NKDSEL2024003)和中国博士后科学基金面上项目(2021M690828)共同资助

详细信息

通讯作者:

唐钧跃　男, 1989年出生于江苏省溧阳市, 现任机电工程学院航空宇航制造工程系副教授, 博士生导师, 目前主要从事模拟星壤样品制备及评价、星球自主采样探测技术、星壤资源原位转化与利用等方向研究. E-mail: tangjunyue@hit.edu.cn

姜生元　男, 1969年出生于吉林白城, 现为哈尔滨工业大学机电工程学院长聘教授, 博士生导师, 主要研究方向为地外天体采样返回技术、月壤水冰就位采样探测、真实月壤研究及其物质模拟、和月球资源近场勘查与原位利用等. E-mail: jiangshy@hit.edu.cn

中图分类号: V11
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出版历程
- 收稿日期: 2025-07-01
- 修回日期: 2025-12-11
- 网络出版日期: 2026-01-13

Research on Micro Quantitative Sampling Calibration Method for In-situ Exploration of Icy Lunar Regolith in the South Pole of the Moon

1.
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001
2.
Institute of Geology and Geophysics, Chinese Academy of Sciences, Beijing 100029
3.
Harbin University of Commerce, Harbin 150028
4.
Beijing Institute of Spacecraft System Engineering, Beijing 100094

摘要

摘要: 受现有遥感探测原理的固有局限, 月壤中水冰的真实赋存状态与精准含量仍无法直接判别, 亟需开展原位验证. 中国探月工程嫦娥七号任务计划在月球南极开展水冰探测, 由巡视器搭载的月壤挥发分测量仪通过微量取样装置实现月壤的原位定量采集. 月表工况的复杂性与不确定性易导致采样质量离散性较大, 而采样过程中机–壤温差及机械作用引发的水冰升华损失会进一步降低探测精度. 为保障挥发分测量仪探测数据的可靠性, 提出采样量和水冰损失定标方法, 采用气相沉积法制备月壤水冰模拟物, 并利用自研定标装置完成采样量定标试验. 初步结果表明, 不同粒径级配的月壤模拟物采样量存在显著差异, 后续将深入研究多因素耦合作用下月壤水冰采样的物理机理, 为嫦娥七号在轨数据的精准判读与科学解译提供高置信的物理响应参数谱.
- 原位探测 /
- 月壤水冰 /
- 定量采样 /
- 水分子逃逸 /
- 地面定标
Abstract: Due to the inherent limitations of current remote sensing techniques, the actual occurrence and accurate abundance of water ice in lunar regolith cannot be directly identified, making in-situ verification urgently necessary. The Chang’E-7 mission of China’s Lunar Exploration Program plans to conduct water ice detection at the lunar south pole, where an in-situ micro-sampling device mounted on the rover will perform quantitative collection of lunar regolith for the volatiles in-situ measurement instrument. However, the uncertainty of lunar surface conditions leads to considerable dispersion in sampling mass. Moreover, water ice sublimation loss caused by tool-soil temperature difference and mechanical interactions during sampling will further reduce the detection accuracy. To ensure the reliability of detection data from the volatiles measurement instrument, this paper proposes calibration methods for sampling mass and water ice loss. Icy lunar regolith simulant is prepared via vapor deposition during sampling, and sampling mass calibration experiments are carried out using a self-developed calibration device. Preliminary results show that sampling mass varies significantly with regolith particle size distribution. Further research will be conducted on the physical mechanism of icy lunar regolith sampling under multi-factor coupling conditions. This study aims to provide a high-confidence physical response parameter spectrum for accurate interpretation and scientific analysis of Chang’E-7 in-orbit data.
- In-situ exploration /
- Icy lunar regolith /
- Quantitative sampling /
- Water molecules escape /
- Ground calibration

HTML全文

图 1 月壤水冰探测工作原理

Figure 1. Working principle of icy lunar regolith detection

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图 2 采样探测过程中水冰损失流程. (a) 月壤水冰采样与转移流程, (b) 月壤样本中水冰含量变化

Figure 2. Process of water ice loss during sampling and detection. (a) Sampling and transfer process of icy lunar regolith, (b) the variation route of water ice content in lunar regolith sample

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图 3 取样装置构成

Figure 3. Composition of sampling device

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图 4 取样装置旋切采样工作原理. (a) 旋切破碎, (b) 样本运移与填充,(c) 完全填充, (d) 稳定密实

Figure 4. Working principle of sampling device rotary cutting. (a) Rotary cutting and crushing, (b) sample transfer and filling, (c) sample fully filled, (d) densify and stabilize

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图 5 月壤微定量采样定标系统原理

Figure 5. Calibration system for micro-quantitative sampling of lunar regolith

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图 6 机械臂刚度分析. (a) 机械臂工作原理, (b) 取样刚度最小工作场景,(c) 机械臂正常工作场景

Figure 6. Stiffness analysis of robotic arm. (a) Schematic diagram of the robotic arm, (b) minimum stiffness during sampling, (c) normal operating scenario of the robotic arm

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图 7 模组刚度分析

Figure 7. Module stiffness analysis

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图 8 采样定标系统. (a) 控制和测量设备, (b) 采样试验台, (c) 采样后的采样片

Figure 8. Sampling calibration system. (a) Control and measuring equipment, (b) sampling test stand, (c) sampling capsule after sampling

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图 9 不同工况采样试验结果. (a) 采样量结果分析, (b) 采样过程遭遇岩块

Figure 9. Sampling test results under different operating conditions. (a) Analysis of sampling quantity statistics results, (b) encountering rocks during sampling

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图 10 小型真空低温水损定标试验系统

Figure 10. Small vacuum low-temperature water loss calibration test system

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图 11 月壤水冰模拟物制备原理(a)^[35]与装置(b)

Figure 11. Principle (a)^[35] and device (b) for the preparation of icy lunar regolith simulant

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图 12 采样水损定标试验流程. (a) 月壤水冰模拟物制备, (b) 实验前样本预处理, (c) 真空环境营造, (d) 取样装置采样, (e) 采样片转移, (f) 表层含水率的测量, (g) 水汽提取与测量

Figure 12. Sampling water loss calibration test process. (a) Preparation of icy lunar regolith simulant, (b) sample pretreatment, (c) vacuum creating, (d) sampling device for sampling, (e) sampling capsule transfer, (f) measurement of surface moisture content, (g) water vapor extraction and measurement

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表 1 取样装置结构参数

Table 1. Structure parameters of sampling device

结构参数	尺寸/mm
连接法兰直径D	59.5
取样管头部半径R	16
取样管外径d	29
取样管长度L	207.5

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表 2 月壤模拟物粒径级配

Table 2. Particle size distribution of lunar regolith simulant

参数	典型工况	挑战工况	极端工况
粒径/mm	质量百分比/(%)
<1	81	61	60
1～2	7	7	10
2～4	5	15	10
4～10	5	15	10
10～16	2	12	5
>16	0	0	5

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表 3 月壤模拟物密实度参数

Table 3. Compactness parameters of lunar regolith simulant

深度/mm	平均相对密实度/(%)
0～150	65	68	71
0～300	74	77	80

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表 4 采样系统机械臂设计参数

Table 4. Design parameters of robotic arms for sampling system

名称	参量	数值
大臂长/ mm	l₁	410
小臂长/ mm	l₂	450
肩关节角度/ (°)	θ₁	60
肘关节角度/ (°)	θ₂	60
关节刚度/(N·m·rad)	K_g	5×10^–3

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表 5 不同位置配重与力的关系

Table 5. Relationship between counterweight and force at different positions

序号	配重悬挂位置a	配重力F_p	竖直力F_v
1	b	[(G_q–F_N)L+G₁b]/b	(G–F_N) – [(G_q–F_N)L+G₁b]/b
2	c	[(G_q–F_N)L+G₁b[/c	(G–F_N) – [(G_q–F_N)L+G₁b]/c
3	[(G_q–F_N)L+G₁b]/(G–F_N)	(G–F_N)	0

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