Sampling method and sampling system

Patent metadata

Field	Value
Publication number	US-12116147-B2
Application number	US-202318378410-A
Country	US
Kind code	B2
Filing date	Oct 10, 2023
Priority date	May 9, 2018
Publication date	Oct 15, 2024
Grant date	Oct 15, 2024

Abstract

A sampling system includes a sampler, a projector, a camera, an arm, and a controller with the sampler, projector, and camera being located at the distal end of the arm. The projector projects a reference mark including a line with a predetermined shape onto a ground surface and the camera captures images of the projected mark. The controller is configured to obtain the size of the projected line based on the camera images. The controller adjusts the projector height position based on the line size and specifies a sampling point for inserting the sampler based on the camera images of the projected mark.

First claim

The invention claimed is:

1. A sampling system comprising:
a sampler for bringing back a sample of a ground surface;
a projector configured to project a reference mark onto the ground surface, the reference mark including a line that has a predetermined shape;
a camera configured to capture an image of the reference mark that is displayed on the ground surface by projection;
an arm whose distal end portion is provided with the sampler, the projector, and the camera; and
a controller configured to:
obtain a size of the line that is displayed on the ground surface by projection, based on image data of the reference mark captured by the camera;
adjust a height position of the projector based on the obtained size of the line; and thereafter
specify a sampling point, into which the sampler is thrown and inserted, based on the image data of the reference mark captured by the camera.

2. The sampling system according to claim 1 , wherein
the sampler has a cylindrical shape,
the reference mark includes a circular line, and
the controller is configured to:
obtain a diameter of the circular line that is displayed on the ground surface by projection, based on the image data of the reference mark captured by the camera;
adjust a height position of the projector by driving the arm, such that the obtained diameter of the circular line coincides with a diameter of the sampler; and thereafter
specify the sampling point, into which the sampler is thrown and inserted, based on the image data of the reference mark captured by the camera.

3. The sampling system according to claim 2 , wherein
the reference mark includes one or two straight lines passing through a center of the circular line, each straight line having both end portions crossing the circular line.

4. The sampling system according to claim 2 , wherein
the reference mark includes a smaller-diameter circular line inside the circular line, the smaller-diameter circular line having a diameter less than the diameter of the circular line.

5. The sampling system according to claim 3 , wherein
the reference mark includes a smaller-diameter circular line inside the circular line, the smaller-diameter circular line having a diameter less than the diameter of the circular line.

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Sakamoto Fuminobu
• Kurose Toyotoshi

Classifications

• B64G1/1071

  Planetary landers intended for the exploration of the surface of planets, moons or comets · CPC title

• B64G1/2427

  Transfer orbits · CPC title

• G06V20/64

  Three-dimensional [3D] objects · CPC title

• G06V20/10

  Terrestrial scenes (scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59) · CPC title

• G06V10/245

  by locating a pattern; Special marks for positioning · CPC title