The Chang’E 5 explorer successfully realized China’s first mission of sampling and returning from an extraterrestrial body. Multi-point lunar samples were collected using the surface sampling mode. The process of surface sampling was expounded according to the characteristic of Chang’E 5. The coverage of the monitoring cameras， which were mounted obliquely， was analyzed. Further， a three-dimensional （3D） digital reconstruction workflow adapted for uneven illumination and high similarity texture scene was developed. Considering the layout of the surface sampling manipulator and other surface devices of the lander， the reachable constraint condition of the sampling monition was structured. Moreover， the sampling area， which was visible and reachable， was discussed. Aiming at a class of large-scale samplers， a multi-sampling point selection method combining digital simulation and physical verification was proposed. Subsequently， the proposed method consisting of analysis， simulation， and verification was applied in the Chang’E 5 surface sampling task. An average precision of less than 1 cm was realized for the reconstruction of the physical terrain. Additionally， the sampling points that had circumferential safety spacing greater than 15 cm and longitudinal safety spacing greater than 2 cm were confirmed. The mission results indicated that the sampling points were correct and reliable. The method effectively supported the Chang’E 5' in its surface sampling activities.