Modularized planning method for lunar surface workflow based on fault tolerance design
Through the modular planning method of month workflow based on fault tolerance design, the problem that the existing technology cannot cope with relay link failure is solved, the reliability of completing the minimum task goal in the case of relay failure is achieved, and the task is improved reliability and coping ability.
Patent Information
- Application Number
- CN202411531423.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-30
- Publication Date
- 2025-02-14
AI Technical Summary
The existing lunar workflow planning method cannot effectively respond to relay link failures, resulting in the detection task being unable to complete the minimum task objectives under relay failures, affecting task reliability.
Using a modular planning method for lunar workflow based on fault tolerance design, the lunar work tasks are modularized and assigned to available relay arc segments, combined with the analysis of short-term recoverable and unrecoverable faults, Fault branch evaluation and compensation design ensures that minimum task objectives can still be achieved in the case of relay failures.
It improves the reliability of the detection task in the case of relay failures, ensures that the detector can complete the minimum task objectives under relay failures, and enhances the ability to respond to complex work tasks on the lunar surface.
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Figure CN119443653A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a modular planning method for lunar surface workflow based on fault tolerance design, and belongs to the technical field. Background Art
[0002] In the early lunar exploration missions, most of the exploration missions relied on the ground-to-space link, and the ground measurement and control link needed to be stable during the lunar surface work phase. During the lunar surface work, the probe completed lunar surface initialization, drilling sampling, payload detection, surface sampling deployment, and takeoff preparation with the support of the ground measurement and control system. Since the sampling area is located on the front side of the moon, the ground measurement and control system has a relatively stable guarantee capability. The failure of the measurement and control link does not need to be considered during the lunar surface work planning process, and there is a strong coupling constraint with the ground-to-space link. The lunar back landing and patrol mission will stay on the lunar surface for a long time after landing, and there is no need to consider too strong time constraints in the lunar surface work planning. In the event of a relay link failure, the probe can be ensured to safely pass the lunar night through autonomous sleep and other methods, and continue to perform the exploration mission after the relay link is restored.
[0003] Compared with previous lunar exploration missions, subsequent complex lunar exploration missions need to consider not only complex lunar work planning, but also the ability to complete mission objectives under relay link interruption conditions. The execution of subsequent complex exploration missions often requires large amounts of data transmission to support ground decision-making. The orbit of the relay satellite chooses a large elliptical orbit around the moon rather than a libration point Halo orbit. Compared with the libration point Halo orbit, the large elliptical orbit around the moon cannot provide continuous relay services to areas such as the back of the moon, and the time for providing relay services is also reduced to a certain extent. This leads to the need to reduce working time and increase work items in the lunar work planning process. The specific arc information of the relay service is calculated according to the orbit and landing point, and the work items are modularized and compactly arranged within the relay arc to improve the efficiency of lunar work. Therefore, the previous lunar work process planning method is no longer applicable to subsequent complex lunar exploration missions. Summary of the invention
[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and propose a modular planning method for lunar surface workflow based on fault tolerance design, so as to ensure that the minimum mission objectives can be achieved when encountering a relay failure during the execution of complex lunar surface work by the detector, thereby improving the reliability of the detection mission.
[0005] The technical solution of the present invention is:
[0006] A modular planning method for lunar surface workflow based on fault tolerance design, comprising:
[0007] S1: Determine the key events of the lunar surface work process according to the lunar surface work tasks, modularize the key events, and allocate the formed lunar surface work modules to the available relay arcs;
[0008] According to the relay satellite status, possible faults are analyzed and divided into two types: short-time recoverable faults and irrecoverable faults. Short-time recoverable faults focus on the occurrence time and recovery time, while irrecoverable faults focus on the occurrence time.
[0009] S2: Select necessary key nodes in the front, middle and back stages of the lunar surface work module, and collect the time intervals of each key node as the fault occurrence time set during the mission execution;
[0010] S3: According to the occurrence time of each short-time recoverable fault and each irrecoverable fault, all short-time recoverable faults and irrecoverable faults are combined with the fault occurrence time set to form different fault branches;
[0011] S4: According to the fault tolerance, the fault branch is evaluated. If the evaluation fails, compensation design is performed for the lunar surface working module in the fault branch that cannot achieve the minimum mission goal. This step is repeated again, and it is iterated until the mission can still achieve the minimum goal under the relay fault condition and meet the fault tolerance evaluation.
[0012] Furthermore, in step S1, the elements of the lunar surface work module include start time, duration, execution conditions, divisibility, and priority; among them, the start time is the time constraint for the module to start execution, the duration is the length of time from the start to the end of the module, the execution condition E contains the prerequisites for the execution of the module, the divisibility R defines whether the module can be further divided into more modules, and the priority P defines the order in which the modules are considered in the lunar surface work plan.
[0013] Furthermore, in step S1, the lunar surface work modules are divided into safety class, mission core class and other classes, the safety class lunar surface work modules have the highest priority, the mission core class lunar surface work modules have the second highest priority, and the other class lunar surface work modules have the lowest priority.
[0014] Furthermore, in step S1, each lunar surface working module is allocated to the available relay arc segments according to the allocation principle:
[0015] 1) Allocate modules according to their priority;
[0016] 2) According to the start time constraints and execution condition constraints of the modules, the order of different modules is roughly arranged, and the working interval is reserved according to the duration in the relay arc segment;
[0017] 3) If there is an intersection between the working ranges of the modules, determine whether the work can be carried out in parallel based on the mutual influence between the modules. If it is not possible to carry out the work at the same time, arrange the module with higher priority according to the module priority;
[0018] 4) If a module cannot be arranged in the current relay arc segment, and if the module cannot be split, the module will be arranged in the next arc segment; if the module can be split, part of the work will be arranged in the current relay arc segment according to the remaining time of the arc segment, and the rest of the work will be arranged in the subsequent arc segment.
[0019] Furthermore, faults are divided into two modes: short-time recoverable faults and irrecoverable faults. Short-time recoverable faults are those that can be successfully located and resolved after analysis and disposal, and the relay measurement and control link is restored to normal communication status; irrecoverable faults are those that cannot be resolved after analysis and disposal, and the relay measurement and control link can never be established or restored.
[0020] Furthermore, in step S3, for each short-time recoverable fault, the fault branch [g 1 g 2 …g n-1 g n ], and further consider different fault recovery times to divide the fault branch g i Divided into g i =[g i1 g i2 …g in ].
[0021] Further, in step S3, for the unrecoverable fault, the fault branch [G 1 G 2 …G n-1 G n ].
[0022] Furthermore, in step S4, the fault tolerance is evaluated by:
[0023] For each fault branch, analyze whether the minimum task goal can be completed. If it can be completed, the fault branch is assigned a value of 1, otherwise it is assigned a value of 0;
[0024] Formulate the fault tolerance evaluation as the intersection of different fault branches:
[0025] P={[g 1 ∩g 2 ∩…∩g n ]∩[G 1 ∩G 2 ∩…∩G n ]}
[0026] When P=1, the minimum mission goal can be achieved under all fault branches, and the fault tolerance assessment passes. When P=0, there are fault branches that cannot achieve the minimum mission goal.
[0027] Furthermore, in step S4, if the evaluation fails, compensation design is performed on the lunar surface working module in the fault branch that cannot achieve the minimum mission goal, specifically:
[0028] Extract the branches that cannot achieve the minimum task goal from the set of fault branches to form a set:
[0029] W={[g 11 …g ij ][G 1 …G i ]}
[0030] An analysis is conducted on the above-mentioned set of branches that cannot achieve the minimum mission objectives. By analyzing the causes of the faulty branches and merging the branches with similar problems, the modules in the branches are compensated by increasing their autonomous response capabilities, thereby enhancing the ability to respond to relay failures.
[0031] Furthermore, in step S4, the method of autonomously compensating the module is to add an emergency function or an autonomous function.
[0032] The advantages of the present invention compared with the prior art are:
[0033] The present invention solves the reliability problem of the detection mission under relay failure through lunar surface work modularization, fault branch analysis and compensation design, improves the ability of complex lunar surface work tasks to cope with relay failures, and ensures that the detector can complete the minimum mission objectives under relay failure conditions after landing on the moon. BRIEF DESCRIPTION OF THE DRAWINGS
[0034] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:
[0035] Figure 1 This is a flow chart of a modular planning method for lunar surface workflow based on fault tolerance design according to an embodiment of the present invention;
[0036] Figure 2 The task flow chart after adding the autonomous function to the embodiment of the present invention. DETAILED DESCRIPTION
[0037] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.
[0038] The present invention proposes a modular planning method for lunar surface workflow based on fault tolerance design, such as Figure 1 As shown, specifically including:
[0039] S1: Design of nominal lunar surface workflow and division of relay failure modes
[0040] S1.1: Design of nominal lunar surface workflow
[0041] Determine the available relay arc according to the relay satellite orbit and the lunar surface working area, determine the key events of the lunar surface working process according to the lunar surface working requirements, and modularize the key events. The key event module contains elements: start time t s , duration ΔT, execution condition E, splittability R, priority P, that is
[0042]
[0043] Among them, the starting time t s The time constraint for the module to start execution, for example, module A must be executed immediately after landing on the moon; the duration ΔT is the length of time from the start to the end of the module; the execution condition E contains the prerequisites for the module execution, for example, module A needs to be executed after module B is completed; the divisibility R defines whether the module can be further divided into more modules, for example, module C can be divided into module C1, module C2, module C3, etc. without affecting the execution of the task; the priority P defines the order in which the modules are considered in the lunar work plan:
[0044]
[0045] For example, module A is related to the safety of the detector, has the highest priority, and has a value of 1; module B is related to the core task of detection, has the second highest priority, and has a value of 2.
[0046] Without considering relay failures, modules are allocated to different relay arcs according to the elements contained in the modules. The allocation principles are as follows:
[0047] 1) According to the module priority, the security modules are arranged first, followed by the task core modules, and finally the other modules;
[0048] 2) According to the start time constraints and execution condition constraints of the modules, the order of different modules is roughly arranged, and the working interval is reserved according to the duration in the relay arc segment;
[0049] 3) If there is an intersection between the working ranges of the modules, determine whether the work can be carried out in parallel based on the mutual influence between the modules. If it is not possible to carry out the work at the same time, arrange the module with higher priority according to the module priority;
[0050] 4) If a module cannot be arranged in the current relay arc segment, if the module cannot be split, then the module will be arranged in the next arc segment. If the module can be split, then part of the work will be arranged in the relay arc segment according to the remaining time of the arc segment, and the rest of the work will be arranged in the subsequent arc segment.
[0051] Taking the far side of the moon sampling and return mission as an example, the lunar surface work in the far side of the moon sampling and return mission can be divided into modules such as lunar surface initialization, drilling sampling, surface sampling, takeoff preparation, and payload detection, which are arranged to be carried out in different arcs.
[0052] Modules that affect the safety of the probe, such as lunar surface initialization and takeoff preparation, have the highest priority and have clear requirements for the start time, which are arranged at the beginning of landing and before takeoff respectively. Drilling sampling and surface sampling are the core modules of the mission and have the second highest priority. Drilling sampling is scheduled to be completed in the first arc segment first. The nominal working condition of surface sampling lasts for a long time. In order to avoid long-term measurement and control interruption, it is arranged to be completed in the second arc segment. Payload detection has no start time constraints and has a lower priority. The modules can be split and adjusted according to the arrangement of other modules.
[0053] S1.2: Relay Failure Mode Analysis
[0054] According to the possible fault impact of the relay satellite, the relay fault mode is divided into short-term recoverable fault and short-term non-recoverable fault:
[0055] 1) Short-term recoverable fault: g = f 1 (t 1 ,t 2 ), this type of fault means that after analysis and treatment, the fault is successfully located and solved, and the relay measurement and control link may be restored to normal communication status. In this case, it is necessary to 1 , and the fault handling completion time t 2 , analyze the impact on subsequent lunar surface work processes and make adaptive adjustments.
[0056] 2) Unrecoverable fault: G = f 2 (t 1), this type of fault means that after analysis and treatment, the fault cannot be solved, and the relay measurement and control link cannot be established or restored. In this case, it is necessary to 1 , analyze the impact on subsequent lunar surface workflows.
[0057] S2: Selection of key lunar nodes
[0058] According to the safety modules and mission core modules with higher priority in lunar surface work, the necessary key nodes, i.e., node time intervals, are selected in the front, middle and back links of the modules as the possible time when the failure may occur. The time intervals of all key nodes are taken as the set of failure occurrence time T = [T 1 T 2 …T i …T n ], i∈[1,n].
[0059] Taking the lunar back sampling and return mission as an example, the safety module and the mission core module include lunar surface initialization, drilling sampling, surface sampling, and takeoff preparation. During the lunar surface work, six time intervals between key nodes are selected, which are:
[0060] T 1 : Before the moon landing initialization module is completed;
[0061] T 2 : After the moon landing initialization module is completed and before the drilling module;
[0062] T 3 : During the drilling module process;
[0063] T 4 : After the drill module is completed and before the table module;
[0064] T 5 : In the process of table fetching module;
[0065] T 6 : After the table retrieval module is completed and before the takeoff preparation module is completed.
[0066] S3: Analysis of branching of lunar surface working modules under different relay failure modes
[0067] For short-term recoverable faults, consider the fault branches that occur at different time intervals of the key nodes on the lunar surface. 1 g 2 …g n-1 g n ], and further consider different fault recovery times to divide the fault branch g 1 Divided into g 1 =[g 11 g 12 …g1i g 1n ], analyze whether the minimum mission goal can be achieved for each fault branch. The fault recovery time is calculated based on the current lunar surface work progress, and the time required to complete the minimum mission goal is calculated. Generally, only two situations are considered: the remaining time after fault recovery is less than the time required to complete the minimum mission goal, and the time is greater than the time required to complete the minimum mission goal.
[0068] For unrecoverable faults, consider the fault branches that occur at different time intervals of the key nodes on the lunar surface [G 1 G 2 …G n-1 G n ], analyze for each fault branch whether it can complete the minimum mission objectives.
[0069] Therefore, the fault branches can be divided into a set of short-term recoverable faults g and irrecoverable faults G according to the relay fault mode.
[0070] F={[g 1 g 2 … g n-1 g n ][G 1 G 2 … G n-1 G n ]},
[0071] Taking the lunar back sampling mission as an example, the minimum mission goal is to obtain samples on the lunar back and take off safely. The branching analysis of the lunar surface work module is as follows:
[0072] Before the lunar landing initialization module is completed: Whether the relay link has a short-term recoverable fault or an unrecoverable fault, it will seriously affect the safety of the probe and make it impossible to achieve the minimum mission objectives.
[0073] After the lunar landing initialization module is completed and before the drilling module: if a short-term recoverable fault occurs in the relay link, the probe can complete the minimum mission objective if the remaining time after the relay link is restored is sufficient to complete a drilling sampling or a surface sampling to obtain lunar samples and complete takeoff preparations. If the relay link is restored too late and the sampling work and takeoff preparations cannot be completed, the probe will not be able to complete the minimum mission objective. If an unrecoverable fault occurs in the relay link, the probe will not be able to complete lunar surface sampling and take off safely, resulting in the failure to complete the minimum mission objective.
[0074] During the drilling module process: If a short-term recoverable fault occurs in the relay link, the probe can complete the minimum mission objective if the remaining time after the relay link is restored is sufficient to complete the remaining drilling sampling or one surface sampling to obtain lunar samples and complete takeoff preparations. If the relay link is restored too late and the sampling work and takeoff preparations cannot be completed, the probe will not be able to complete the minimum mission objective. If an unrecoverable fault occurs in the relay link, the probe will not be able to complete lunar surface sampling and take off safely, resulting in the failure to complete the minimum mission objective.
[0075] After the drilling module is completed and before the table acquisition module: if a short-term recoverable fault occurs in the relay link, the detector can complete the minimum mission objective if the remaining time after the relay link is restored is sufficient to complete the take-off preparation. If the relay link is restored too late and the take-off preparation cannot be completed, the detector will not be able to complete the minimum mission objective. If an unrecoverable fault occurs in the relay link, the detector will not be able to complete a safe take-off, resulting in the failure to complete the minimum mission objective.
[0076] During the table acquisition module process: if a short-term recoverable fault occurs in the relay link, the detector can complete the minimum mission objective if the remaining time after the relay link is restored is sufficient to complete take-off preparations. If the relay link is restored too late and the take-off preparations cannot be completed, the detector will not be able to complete the minimum mission objective. If an unrecoverable fault occurs in the relay link, the detector will not be able to complete a safe take-off, resulting in the failure to complete the minimum mission objective.
[0077] After the table acquisition module is completed and before the takeoff preparation module is completed: if a short-term recoverable fault occurs in the relay link, the detector can complete the minimum mission objective if the remaining time after the relay link is restored is sufficient to complete the remaining takeoff preparations. If the relay link is restored too late and the remaining takeoff preparations cannot be completed, the detector will not be able to complete the minimum mission objective. If an unrecoverable fault occurs in the relay link, the detector will not be able to complete a safe takeoff, resulting in the failure to complete the minimum mission objective.
[0078] S4: Fault Tolerance Assessment and Compensation
[0079] Based on the above analysis results of the branching of lunar working modules under different relay failure modes, we evaluate whether different fault branches can achieve the minimum goal according to the minimum requirements of the detection mission to ensure that the mission will not fail to achieve the minimum mission goal. If the fault branch can achieve the minimum mission goal, it is assigned a value of 1; if the fault branch cannot achieve the minimum mission goal, it is assigned a value of 0.
[0080] The fault tolerance evaluation can be expressed as the intersection of different fault branches:
[0081] P={[g 1 ∩g 2 ∩…∩g n ]∩[G1 ∩G 2 ∩…∩G n ]}
[0082] When P=1, the minimum task goal can be achieved under all fault branches and the fault tolerance assessment is passed. However, when P=0, there are fault branches that cannot achieve the minimum task goal. Compensation design is carried out for the fault conditions, and the design and evaluation are iterated continuously until the detection task can still achieve the minimum goal under the relay fault condition and meet the fault tolerance assessment.
[0083] Fault condition compensation design:
[0084] Extract the branches that cannot achieve the minimum task goal from the set of fault branches to form a set:
[0085] W={[g 11 …g ij ][G 1 …G i ]}
[0086] The above-mentioned branch set that cannot achieve the minimum mission goal can be analyzed and generally divided into two types: failure to complete a certain security module and a certain mission core module. By analyzing the causes of the faulty branches and merging branches with similar problems, the ability to respond to relay failures is enhanced by increasing autonomous response capabilities and other means to ensure that the minimum mission goal can be reliably achieved.
[0087] Taking the lunar back sampling return mission as an example, the failure branches that cannot achieve the minimum mission goal can be summarized as incomplete lunar landing safety settings, incomplete lunar surface sampling, and incomplete takeoff preparation. The key points that affect the success or failure of the minimum mission goal are the lunar surface initialization module, the drilling sampling module or the surface sampling module, and the takeoff preparation module.
[0088] For the lunar surface initialization module, the detector compensation is designed with an autonomous lunar surface initialization function. The detector can achieve lunar surface initialization without relay support to ensure the safety of the detector. For the drilling sampling module or surface sampling module in the lunar surface sampling, since the refined operation of the surface sampling module requires a large amount of device-ground interaction, it is difficult to achieve without relay support. In order to ensure that the lunar surface sampling link can reliably obtain lunar samples in the event of a relay link failure, an emergency drilling function is designed. The relay link is identified a certain time before takeoff. If the relay link fails and the drilling work has not been completed, the detector will autonomously carry out emergency drilling to ensure that lunar samples are obtained. For the takeoff preparation module, the detector compensation is designed with an autonomous takeoff function, which can achieve reliable takeoff in the event of a relay failure.
[0089] The lunar surface workflow after completing the lunar surface autonomous initialization, emergency drilling, autonomous takeoff and other compensation designs is as follows Figure 2shown.
[0090] 1) Before the lunar landing initialization module is completed: the probe can independently complete the lunar surface initialization work without the support of a relay link.
[0091] 2) After the lunar landing initialization module is completed and before the drilling module: if a short-term recoverable fault occurs in the relay link, the probe can complete the minimum mission objective when the remaining time after the relay link is restored is sufficient to complete one drilling sampling or one surface sampling to obtain lunar samples and complete the take-off preparations. If the relay link is restored too late, the probe can autonomously start the emergency drilling and autonomous take-off functions to complete the minimum mission objective. If an unrecoverable fault occurs in the relay link, the probe can autonomously start the emergency drilling and autonomous take-off functions to complete the minimum mission objective.
[0092] 3) During the drilling module process: If a short-term recoverable fault occurs in the relay link, the probe can complete the minimum mission objective if the remaining time after the relay link is restored is sufficient to complete the remaining drilling sampling or one surface sampling to obtain lunar samples and can complete the take-off preparations. If the relay link is restored too late, the probe can autonomously start the emergency drilling and autonomous take-off functions to complete the minimum mission objective. If an unrecoverable fault occurs in the relay link, the probe can autonomously start the emergency drilling and autonomous take-off functions to complete the minimum mission objective.
[0093] 4) After the drilling module is completed and before the table acquisition module: If a short-term recoverable fault occurs in the relay link, the detector can complete the minimum mission objective if the remaining time after the relay link is restored is sufficient to complete the take-off preparation. If the relay link is restored too late, the detector can autonomously start the autonomous take-off function to complete the minimum mission objective. If an unrecoverable fault occurs in the relay link, the detector can autonomously start the autonomous take-off function to complete the minimum mission objective.
[0094] 5) During the table acquisition module process: If a short-term recoverable fault occurs in the relay link, the detector can complete the minimum mission objective if the remaining time after the relay link is restored is sufficient to complete the take-off preparation. If the relay link is restored too late, the detector will autonomously start the autonomous take-off function and can complete the minimum mission objective. If an unrecoverable fault occurs in the relay link, the detector will not be able to complete a safe take-off, resulting in the failure to complete the minimum mission objective.
[0095] 6) After the table acquisition module is completed and before the takeoff preparation module is completed: the detector mainly uses the autonomous takeoff function, supplemented by the relay link. A short-term recoverable or unrecoverable failure in the relay link will not affect the safe takeoff of the detector, and the minimum mission objectives can be completed.
[0096] The above-described embodiments are only preferred specific implementations of the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.
Claims
1. A modular planning method for lunar surface workflow based on fault tolerance design, characterized in that: include: S1: Determine the key events of the lunar surface work process according to the lunar surface work tasks, modularize the key events, and allocate the formed lunar surface work modules to the available relay arcs; According to the relay satellite status, possible faults are analyzed and divided into two types: short-time recoverable faults and irrecoverable faults. Short-time recoverable faults focus on the occurrence time and recovery time, while irrecoverable faults focus on the occurrence time. S2: Select necessary key nodes in the front, middle and back stages of the lunar surface work module, and collect the time intervals of each key node as the fault occurrence time set during the mission execution; S3: According to the occurrence time of each short-time recoverable fault and each irrecoverable fault, all short-time recoverable faults and irrecoverable faults are combined with the fault occurrence time set to form different fault branches; S4: Evaluate the fault tolerance. If the evaluation fails, design compensation for the lunar surface working module in the fault branch that cannot achieve the minimum mission goal. Repeat this step again, and iterate until the mission can still achieve the minimum goal under the relay fault condition and meet the fault tolerance evaluation.
2. The method for modular planning of lunar surface workflow based on fault tolerance design according to claim 1 is characterized in that: In step S1, the elements of the lunar surface work module include start time, duration, execution conditions, divisibility, and priority; among them, the start time is the time constraint for the module to start execution, the duration is the length of time from the start to the end of the module, the execution condition E contains the prerequisites for the execution of the module, the divisibility R defines whether the module can be further divided into more modules, and the priority P defines the order in which the modules are considered in the lunar surface work plan.
3. The method for modular planning of lunar surface workflow based on fault tolerance design according to claim 1, characterized in that: In step S1, the lunar surface work modules are divided into safety class, mission core class and other classes. The safety class lunar surface work modules have the highest priority, the mission core class lunar surface work modules have the second highest priority, and the other class lunar surface work modules have the lowest priority.
4. The method for modular planning of lunar surface workflow based on fault tolerance design according to claim 2 is characterized in that: In step S1, the formed lunar surface working modules are allocated to the available relay arcs, and the allocation principle is: 1) Allocate modules according to their priority; 2) According to the start time constraints and execution condition constraints of the modules, the order of different modules is roughly arranged, and the working interval is reserved according to the duration in the relay arc segment; 3) If there is an intersection between the working ranges of the modules, determine whether the work can be carried out in parallel based on the mutual influence between the modules. If it is not possible to carry out the work at the same time, arrange the module with higher priority according to the module priority; 4) If a module cannot be arranged in the current relay arc segment, and if the module cannot be split, the module will be arranged in the next arc segment; if the module can be split, part of the work will be arranged in the current relay arc segment according to the remaining time of the arc segment, and the rest of the work will be arranged in the subsequent arc segment.
5. The method for modular planning of lunar surface workflow based on fault tolerance design according to claim 1, characterized in that: Faults are divided into two modes: short-time recoverable faults and irrecoverable faults. Short-time recoverable faults are those that can be successfully located and resolved after analysis and handling, and the relay measurement and control link may be restored to normal communication status; irrecoverable faults are those that cannot be resolved after analysis and handling, and the relay measurement and control link can never be established or restored.
6. The method for modular planning of lunar surface workflow based on fault tolerance design according to claim 5, characterized in that: In step S3, for each short-term recoverable fault, the fault branches [g1 g2…g n-1 g n ], and further consider different fault recovery times to divide the fault branch g i Divided into g i =[g i1 g i2 …g in ].
7. The method for modular planning of lunar surface workflow based on fault tolerance design according to claim 6, characterized in that: In step S3, for the unrecoverable fault, the fault branches [G1 G2…G n-1 G n ].
8. The method for modular planning of lunar surface workflow based on fault tolerance design according to claim 7, characterized in that: In step S4, the fault tolerance is evaluated by: For each fault branch, analyze whether the minimum task goal can be completed. If it can be completed, the fault branch is assigned a value of 1, otherwise it is assigned a value of 0; Formulate the fault tolerance evaluation as the intersection of different fault branches: P={[g1∩g2∩…∩g n ]∩[G1∩G2∩…∩G n ]} When P=1, the minimum mission goal can be achieved under all fault branches, and the fault tolerance assessment passes. When P=0, there are fault branches that cannot achieve the minimum mission goal.
9. The method for modular planning of lunar surface workflow based on fault tolerance design according to claim 6, characterized in that: In step S4, if the evaluation fails, compensation design is performed on the lunar surface working module in the fault branch that cannot achieve the minimum mission goal, specifically: Extract the branches that cannot achieve the minimum task goal from the set of fault branches to form a set: W={[g 11 …g ij ][G1…G i ]} An analysis is conducted on the above-mentioned set of branches that cannot achieve the minimum mission objectives. By analyzing the causes of the faulty branches and merging the branches with similar problems, the modules in the branches are compensated by increasing their autonomous response capabilities, thereby enhancing the ability to respond to relay failures.
10. The method for modular planning of lunar surface workflow based on fault tolerance design according to claim 1, characterized in that: In step S4, the method of autonomously compensating the module is to add an emergency function or an autonomous function.