Navigation planning method, device and equipment for lunar surface exploration and medium

Abstract

The embodiment of the invention provides a navigation planning method for lunar exploration, which is applied to the field of deep space exploration, and comprises the following steps: acquiring task requirements and illumination information of a lunar exploration task, and determining a plurality of first space-time navigation points according to the task requirements and the illumination information; taking two adjacent space-time navigation points in the plurality of first space-time navigation points as a stage starting point and a stage target point, determining second navigation point sequences between the stage starting point and the stage target point, splicing the plurality of second navigation point sequences to obtain a third navigation point sequence, and obtaining perception information of the execution body, and the execution body is used for executing the lunar surface detection task, navigation information of the execution body is determined according to the perception information and the third navigation point sequence, and the lunar surface detector can perform effective real-time navigation when executing the detection task on the lunar surface through multi-layer navigation planning.

Description

Technical Field

[0001] The present application relates to the field of deep space exploration technology, and in particular to navigation planning methods, devices, equipment and media for lunar exploration. Background Art

[0002] Lunar exploration missions are a vital part of human exploration of space, the expansion of scientific knowledge, and the advancement of technology. Since the mid-20th century, the Moon, as Earth's closest natural satellite, has been the primary target for deep space exploration.

[0003] Lunar exploration missions are not only a crucial platform for scientific exploration and technological innovation, but also a key component of resource development, international competition, and future deep space exploration. Through lunar exploration, humanity can expand its understanding of the universe, develop space resources, verify advanced technologies, and lay the foundation for future lunar base construction and deep space exploration missions.

[0004] In related technologies, long-distance detection missions rely on global planning, which puts a certain amount of pressure on computing power and storage capacity.

[0005] Application Contents

[0006] In view of the above problems, a navigation planning method, device, equipment and medium for lunar exploration are proposed to overcome or at least partially solve the above problems. The specific technical solutions are as follows:

[0007] In a first aspect of the present application, a navigation planning method for lunar exploration is provided, wherein the method comprises:

[0008] Obtain mission requirements and lighting information for lunar exploration missions;

[0009] Determining a plurality of first spatiotemporal navigation points according to the task requirements and the lighting information;

[0010] Taking two adjacent spatiotemporal navigation points among the plurality of first spatiotemporal navigation points as a stage starting point and a stage target point, and determining a second navigation point sequence between the stage starting point and the stage target point;

[0011] splicing a plurality of said second navigation point sequences to obtain a third navigation point sequence;

[0012] Acquiring perception information of an actuator, wherein the actuator is used to perform the lunar surface exploration mission;

[0013] Navigation information of the execution body is determined based on the perception information and the third navigation point sequence.

[0014] In some optional embodiments of the present application, the task requirements include a first spatiotemporal starting point, a first spatiotemporal end point, a first starting time, and a first target arrival time. Determining multiple initial spatiotemporal navigation points based on the task requirements and the illumination information includes:

[0015] Obtaining an offline lunar surface map, wherein the offline lunar surface map includes first-level lunar surface terrain information;

[0016] Based on the first starting time, the first target arrival time, the first space-time starting point, the first space-time end point, the first-level lunar surface terrain information and the lighting information, multiple initial space-time navigation points that meet preset lighting conditions and first space-time resolution conditions are determined on the lunar surface offline map.

[0017] In some optional embodiments of the present application, determining a second navigation point sequence between the stage starting point and the stage target point includes:

[0018] Acquiring second-level lunar surface topography information, where the second-level lunar surface topography information includes slope information and undulation information;

[0019] Based on the second-level lunar surface terrain information, a path search algorithm is used to calculate a second navigation point sequence between the stage starting point and the stage target point that meets the second spatiotemporal resolution condition.

[0020] In some optional embodiments of the present application, determining a second navigation point sequence between the stage starting point and the stage target point includes:

[0021] Acquiring second-level lunar surface topography information, where the second-level lunar surface topography information includes slope information and undulation information;

[0022] Based on the second-level lunar surface terrain information, a path search algorithm is used to calculate a second navigation point sequence between the stage starting point and the stage target point that meets the second spatiotemporal resolution condition.

[0023] In some optional embodiments of the present application, obtaining the perception information of the execution entity includes:

[0024] Acquiring operational constraint information of the actuator and lunar obstacle information within the sensing range of the actuator;

[0025] The determining, based on the perception information and the third navigation point sequence, navigation information of the executable includes:

[0026] Based on the operation constraint information, lunar obstacle information and the third navigation point sequence, the speed information and motion information of the executor under the third spatiotemporal resolution condition are calculated, and the third spatiotemporal resolution condition includes a second-level time resolution and a decimeter-level spatial resolution.

[0027] In some optional embodiments of the present application, the perception range of the executive entity includes minute-level time resolution and meter-level spatial resolution.

[0028] In some optional embodiments of the present application, the first spatiotemporal resolution condition includes hourly temporal resolution and hundred-meter spatial resolution.

[0029] In some optional embodiments of the present application, the second spatiotemporal resolution condition includes hourly temporal resolution and decameter spatial resolution.

[0030] In a second aspect of the present application, a navigation planning device for lunar exploration is provided, wherein the device comprises:

[0031] An acquisition module configured to acquire mission requirements and lighting information of a lunar exploration mission;

[0032] A mission acquisition module configured to obtain mission requirements and lighting information for a lunar exploration mission;

[0033] A first planning module is configured to determine a plurality of first spatiotemporal navigation points based on the task requirements and the lighting information;

[0034] A second planning module is configured to use two adjacent spatiotemporal navigation points among the plurality of first spatiotemporal navigation points as a stage starting point and a stage target point, and determine a second navigation point sequence between the stage starting point and the stage target point;

[0035] a splicing module configured to splice a plurality of said second navigation point sequences to obtain a third navigation point sequence;

[0036] a perception information acquisition module, configured to acquire perception information of an executive body, the executive body being used to perform the lunar surface exploration mission;

[0037] The navigation determination module is configured to determine the navigation information of the execution body according to the perception information and the third navigation point sequence.

[0038] An embodiment of the present application also discloses an electronic device, characterized in that it includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, it implements the navigation planning method for lunar exploration as described above.

[0039] An embodiment of the present application further discloses a computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the navigation planning method for lunar exploration as described above is implemented.

[0040] The embodiment of the present application obtains the task requirements and lighting information of the lunar exploration mission, determines multiple first space-time navigation points based on the task requirements and lighting information, takes two adjacent space-time navigation points among the multiple first space-time navigation points as the stage starting point and the stage target point, determines a second navigation point sequence between the stage starting point and the stage target point, splices the multiple second navigation point sequences to obtain a third navigation point sequence, obtains perception information of an executor, and the executor is used to execute the lunar exploration mission. Based on the perception information and the third navigation point sequence, the navigation information of the executor is determined. Through the multi-layer navigation planning of the present application, the lunar probe can perform effective real-time navigation when performing the exploration mission on the lunar surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the description of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0042] Figure 1 This is a flowchart of the steps of a navigation planning method for lunar exploration provided by some embodiments of the present application;

[0043] Figure 2 This is a flowchart of the steps of another navigation planning method for lunar exploration provided by some embodiments of the present application;

[0044] Figure 3 This is a schematic diagram of the relationship between time and space resolution provided by some embodiments of the present application;

[0045] Figure 4 This is a flowchart of lunar exploration navigation planning provided by some embodiments of the present application;

[0046] Figure 5 This is a schematic diagram of the relationship between reference factors for lunar exploration navigation planning provided by some embodiments of the present application;

[0047] Figure 6 This is a schematic diagram of navigation planning at various levels for lunar exploration provided by some embodiments of the present application;

[0048] Figure 7 This is a structural block diagram of a navigation planning device for lunar exploration provided by some embodiments of the present application;

[0049] Figure 8 This is a schematic diagram of a computer device provided in some embodiments of the present application. DETAILED DESCRIPTION

[0050] To make the above-mentioned purposes, features, and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and specific embodiments. It is apparent that the embodiments described are only a portion of the embodiments of this application, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments in this application without inventive effort are also within the scope of protection of this application.

[0051] The lunar exploration mission is a complex system engineering project that must be completed under the influence of many factors, including mission objectives, lunar environmental constraints, robot performance limitations, and human-robot collaboration or multi-robot collaboration. These factors also play an important role in constraining the robot's navigation point sequence planning task and system design. The constraints of lunar navigation point planning have the following characteristics:

[0052] (1) There are many types of constraints. The constraints for lunar navigation point planning include both external environmental constraints and internal constraints of the robot’s own maneuverability characteristics; both static constraints and time-varying dynamic constraints; both global constraints based on offline maps and local constraints based on online perception.

[0053] (2) The influence domain of the constraints is complex and difficult to handle uniformly. Time-varying factors such as dynamic lighting conditions mainly constrain navigation point planning for long-term maneuvering missions; factors such as macro-terrain undulations, slopes, and static lighting mainly constrain navigation point planning for large-scale maneuvering missions; factors such as local terrain, robot maneuverability, and astronaut assistance requirements cannot be represented based on offline lunar topographic maps and must rely on the robot's online perception to determine, which mainly affects the robot's local motion planning.

[0054] (3) Constraints on computing power and memory requirements. For navigation point planning problems with long periods of time and long distances, the map size is huge and the time depth of the solution space is long. At this time, constraints such as macro-terrain undulation, slope, and lighting based on high-precision terrain data will face unacceptable computing time.

[0055] (4) High precision requirements for constraint calculations. Related technologies cannot meet the requirements for high-precision navigation behavior planning at the decimeter or centimeter level, which is crucial for robot safety.

[0056] Reference Figure 1 , shows a flowchart of a navigation planning method for lunar exploration provided by some embodiments of the present application, which may specifically include the following steps:

[0057] Step 101: Obtain mission requirements and lighting information for the lunar exploration mission.

[0058] Lunar exploration missions refer to a series of activities involving scientific exploration and research of the lunar surface by human or unmanned probes. These missions aim to obtain information on the geological, chemical, and physical properties of the moon to enhance our understanding of its formation, evolution, and its relationship to Earth. For example, geological research analyzes lunar surface rocks and soil to understand their formation and evolution; resource exploration searches for resources to provide a basis for future development; and research on lunar environmental factors prepares for manned missions. Furthermore, mission requirements and lighting information for lunar exploration missions are key to mission planning and execution. Mission requirements can include spatiotemporal information, including lighting requirements that need to be met during mission execution, such as avoiding shadowed areas or ensuring solar power supply. Lighting information is crucial for energy supply, equipment temperature, and mission time planning for lunar exploration missions.

[0059] Obtain the mission requirements for a lunar exploration mission, which can be a long-term mission lasting several days or months, such as a sun-synchronous orbital survey of the lunar south pole. Specific requirements include the first starting point, the first target point, the first starting time, and the first target arrival time. Specifically, assuming the first starting point is A and the first target point is B, the mission requirements may include the coordinates of point A, the coordinates of point B, the start time of the exploration mission starting from point A, and the target arrival time of the mission ending at point B.

[0060] Step 102: Determine a plurality of first spatiotemporal navigation points based on task requirements and lighting information.

[0061] In the embodiment of the present application, the lighting information specifically refers to the time-varying lighting constraint. The time-varying lighting constraint means that in the lunar exploration mission, due to the rotation and revolution of the moon, the lighting conditions will change over time, thereby dynamically affecting the mission's energy supply, equipment temperature and mission time planning.

[0062] Because most executors performing top-level tasks require solar power generation, during first-level planning, the present embodiment determines the first spatiotemporal navigation point based not only on task requirements but also on illumination information, ensuring that the first spatiotemporal navigation point is always within the sunlight area. This eliminates the need to consider time-varying illumination constraints in subsequent planning.

[0063] When planning lunar exploration navigation, the first level of spatiotemporal navigation point planning is performed to obtain multiple first spatiotemporal navigation points. This level, on the one hand, has the highest spatiotemporal granularity and the largest spatiotemporal scope, placing the highest demands on the optimality of the planning results. On the other hand, over larger time periods and distances, lunar navigation planning faces the challenges of extremely large map sizes and temporal depths, resulting in a vast space for navigation point solutions. Therefore, planning typically requires reducing the temporal and spatial resolution of the map, determining and planning the first spatiotemporal navigation points on a relatively coarse-grained map. In other words, the determination of the first spatiotemporal navigation point is the initial, globally optimal sequence of navigation points planned over a longer timeframe and larger spatial scale, under the constraints of the lunar surface's time-varying environment.

[0064] Step 103: using two adjacent spatiotemporal navigation points among the plurality of first spatiotemporal navigation points as a stage starting point and a stage target point, and determining a second navigation point sequence between the stage starting point and the stage target point.

[0065] In step 103, a second static planning is performed based on the multiple first spatiotemporal navigation points, and two adjacent spatiotemporal navigation points among the multiple first spatiotemporal navigation points are sequentially used as the stage starting point and the stage target point, and the optimal navigation point planning between the stage starting point and the stage target point is performed on a scale of hundreds of meters. It is essentially an offline global navigation point planning under the constraints of the static environment of the lunar surface. This also means that when performing this level of planning, it is not necessary to consider the dynamic changes in sunlight, but rather to pay more attention to the changes in the terrain of the lunar surface, in an attempt to perform more accurate navigation between the two initial navigation points, that is, to plan more second navigation points between two adjacent first spatiotemporal navigation points. It should be noted that the second navigation point sequence determined between two adjacent first spatiotemporal navigation points includes multiple second navigation points.

[0066] Step 104: splice the multiple second navigation point sequences to obtain a third navigation point sequence.

[0067] As can be seen from the above content, a second navigation point sequence is obtained between two first spatiotemporal navigation points. For example, the second navigation point sequence between a first spatiotemporal navigation point A and an adjacent first spatiotemporal navigation point B is AB[N], including second navigation points AB[0], AB[1], AB[2], ..., AB[n-1]. Then, for every two adjacent first spatiotemporal navigation points, multiple second navigation point sequences BC[N] (assuming they include second navigation points BC[0], BC[1], BC[2], ..., BC[n-1]), CD[N] (assuming they include second navigation points CD[0], CD[1], CD[2], ..., CD[n-1]), DE[N], etc. can be obtained. These second navigation points are sequentially spliced ​​to obtain multiple third navigation point sequences.

[0068] Step 105: Acquire the perception information of the executive body, which is used to perform the lunar exploration mission.

[0069] In the embodiments of this application, navigation information planning in the unknown lunar environment also relies on the online perception of the robot's own sensors. In lunar exploration missions, the "executor" refers to robots, drones, and other devices capable of performing tasks on the lunar surface. The perception information of the drone or robot as the "executor" refers to the data acquired by its sensors regarding the lunar surface environment, its own status, and the mission objectives. This information forms the basis for the "executor" to perform navigation, obstacle avoidance, scientific exploration, and mission execution on the lunar surface.

[0070] The main perception information of the actuator in lunar exploration includes environmental information. Environmental information includes but is not limited to terrain information, surface material information, real-time lighting information, and real-time temperature information. Among them, the terrain information of the lunar surface can be obtained through lidar, stereo vision camera or depth camera. The terrain information can specifically include obstacle constraints within the perception range of the actuator; the surface material information can also be obtained by detecting the material composition of the lunar surface through spectrometers, infrared sensors or radars. Real-time lighting information can be obtained by sensing the lighting conditions on the lunar surface (such as day and night changes, shadow areas) through light sensors; real-time temperature information can be obtained by sensing the extreme temperature changes on the lunar surface (up to 127°C during the day and down to -173°C at night) through temperature sensors, which are used for equipment protection and scientific exploration.

[0071] Step 106: Determine navigation information of the execution body based on the perception information and the third navigation point sequence.

[0072] From the above content, it can be seen that the lighting information is taken into consideration when determining the first spatiotemporal navigation point. On the basis of the first spatiotemporal navigation point, the second navigation point sequence between each two adjacent first spatiotemporal navigation points is determined, and the multiple second navigation point sequences are spliced ​​in sequence to obtain the third navigation point sequence.

[0073] After the navigation point planning from step 101 to step 104, a third navigation point sequence is obtained. The third navigation point sequence serves as the basis for determining the navigation information of the executor when performing the lunar exploration mission, and can effectively improve the accuracy of the transfer path of the executor between each navigation point.

[0074] As can be seen from step 105, the executive body in this embodiment of the application acquires the executive body's sensory information while performing the lunar exploration mission. Therefore, based on the sensory information and the obtained third navigation point sequence, the executive body's navigation information is determined. By determining the first spatiotemporal navigation point, determining the second navigation point sequence, and ultimately determining the executive body's navigation information, this embodiment of the application ensures safe and efficient execution of the mission.

[0075] The embodiment of the present application obtains the task requirements and lighting information of the lunar exploration mission, determines multiple first space-time navigation points based on the task requirements and lighting information, takes two adjacent space-time navigation points among the multiple first space-time navigation points as the stage starting point and the stage target point, determines a second navigation point sequence between the stage starting point and the stage target point, splices the multiple second navigation point sequences to obtain a third navigation point sequence, obtains perception information of an executor, and the executor is used to execute the lunar exploration mission. Based on the perception information and the third navigation point sequence, the navigation information of the executor is determined. Through the multi-layer navigation planning of the present application, the lunar probe can perform effective real-time navigation when performing the exploration mission on the lunar surface.

[0076] Reference Figure 2 , shows a flowchart of another navigation planning method for lunar exploration provided by some embodiments of the present application, which may specifically include the following steps:

[0077] Step 201: Obtain mission requirements and lighting information for the lunar exploration mission.

[0078] Step 202: Obtain an offline lunar map, which includes first-level lunar terrain information.

[0079] The content of step 201 is consistent with step 101 and will not be repeated here. The mission requirements of the lunar exploration mission include the first starting point information, the first target point information, the first starting time, and the first target arrival time. The first starting information includes but is not limited to the coordinates of the first starting point, and the first target point information includes the coordinates of the exploration mission endpoint. The first starting time and the first target arrival time refer to the time when the exploration mission begins and ends.

[0080] Among them, the offline lunar surface map refers to a high-precision lunar surface map that is pre-built and stored in local devices (such as lunar rovers, drones or landers) during lunar exploration missions. These maps do not rely on real-time communication or external data updates and can provide navigation, path planning, obstacle avoidance and environmental perception support for exploration equipment during mission execution. The offline lunar surface map is based on data obtained by lunar orbit satellites or previous exploration missions. This data is uploaded to the local storage system of the exploration equipment before the mission and does not rely on real-time communication. It is suitable for situations where communication is delayed or interrupted.

[0081] In some implementations of this embodiment, the offline lunar surface map includes first-level lunar surface topography information. This first-level lunar surface topography information may include high-resolution topographic, geomorphological, and geological information, specifically including elevation data, crater distribution, rock location, slope information, etc. The offline lunar surface map may also combine multiple data sources, such as optical imagery, lidar data, and radar data, to provide comprehensive environmental information.

[0082] Step 203: Based on the mission requirements, the first-level lunar terrain information and the lighting information, a plurality of first spatiotemporal navigation points that meet the preset lighting conditions and the first spatiotemporal resolution conditions are determined on the lunar offline map.

[0083] The preset lighting conditions refer to the lighting requirements that must be met during mission execution. Most exploration missions utilize solar power for their generation. Therefore, meeting the preset lighting conditions specifically refers to avoiding shadowed areas. Therefore, when determining the first spatiotemporal navigation point, meeting the preset lighting conditions ensures that the coordinates of multiple first spatiotemporal navigation points are all within the sunlit area.

[0084] The first spatiotemporal resolution condition refers to the basic requirement for temporal and spatial accuracy in the preliminary planning stage. The first spatiotemporal resolution includes spatial resolution and temporal resolution. Spatial resolution refers to the minimum distance between navigation points or the degree of fineness of area division on the offline map of the lunar surface. In preliminary planning, the spatial resolution is relatively low and is mainly used to determine the approximate path and key nodes, rather than each detailed step of movement. For example, if the first spatiotemporal resolution condition requires a spatial resolution of 1 kilometer, then the interval between navigation points is usually about 1 kilometer. Temporal resolution refers to the distribution density of navigation points in the time dimension, that is, the time interval or time window for task execution. In preliminary planning, the temporal resolution is relatively low and is mainly used to determine the key time nodes of the task (such as the time point when the lighting conditions change); if the first spatiotemporal resolution condition requires a temporal resolution of 1 hour, then the time interval between navigation points is usually about 1 hour.

[0085] In some embodiments of the present application, the first spatiotemporal resolution condition includes hourly temporal resolution and hundred-meter spatial resolution, that is, the interval between multiple first spatiotemporal navigation points is about several hundred meters, and the time interval is about 1 hour, which means that the distance between two adjacent navigation points in multiple first spatiotemporal navigation points is relatively far, and the scale span is large.

[0086] As can be seen from the above content, the mission requirements include starting point information, target point information, starting time, and target arrival time. Therefore, based on the mission requirements, first-level lunar terrain information and lighting information, multiple first space-time navigation points that meet the preset lighting conditions and first space-time resolution conditions can be determined on the lunar offline map. The embodiment of the present application takes into account the terrain changes on the lunar surface when planning the first space-time navigation points, thereby obtaining the initial global optimal navigation point sequence (i.e., multiple first space-time navigation points) under coarse space-time resolution conditions (i.e., first space-time resolution conditions).

[0087] Step 204: using two adjacent spatiotemporal navigation points among the plurality of first spatiotemporal navigation points as a stage starting point and a stage target point, and determining a second navigation point sequence between the stage starting point and the stage target point.

[0088] In some embodiments of the present application, the step 204 of "determining a second navigation point sequence between the stage starting point and the stage target point" may include the following sub-steps:

[0089] Sub-step 11: Obtain second-level lunar surface topography information, which includes slope information and undulation information.

[0090] Sub-step 12: Based on the second-level lunar surface terrain information, a path search algorithm is used to calculate a second navigation point sequence between the stage starting point and the stage target point that meets the second spatiotemporal resolution condition.

[0091] The embodiment of the present application performs a second planning based on the initial global optimal navigation point sequence (i.e., multiple first space-time navigation points), and performs the second optimal navigation point planning between the first space-time navigation points on a scale of hundreds of meters. Since the lighting information has been taken into consideration when planning the first space-time navigation points, it is ensured that all first space-time navigation points fall within the lighting range.

[0092] Therefore, the planning of the second sequence of navigation points is essentially the planning of navigation points under the constraints of the static environment of the lunar surface. When performing the second planning, the embodiment of the present application does not need to consider the dynamic changes in sunlight, but is more concerned with the terrain changes on the lunar surface. By obtaining the second-level lunar surface terrain information, the second-level lunar surface terrain information includes the lunar surface slope information and lunar surface undulation information within a scale of hundreds of meters, and the second navigation point sequence between two adjacent first navigation points is calculated based on the second-level lunar surface terrain information. More navigation points are planned between two adjacent first space-time navigation points to achieve more accurate navigation between the two first space-time navigation points. The second-level lunar surface terrain information can also include crater distribution information, rock distribution information, lunar soil characteristics, etc.

[0093] In some implementations of this embodiment, a path search algorithm such as Dijkstra's algorithm, A*, or RRT (Rapidly Exploring Random Tree) can be used to calculate a second navigation point sequence between a phase start node and a phase target point that satisfies the second spatiotemporal resolution condition. Dijkstra, A*, and RRT are three different path search algorithms. If an accurate shortest path is required and the graph size is small, Dijkstra is selected. If an efficient shortest path search is required and a heuristic function is available, A* is selected. If the environment is complex, high-dimensional, or dynamic, RRT is selected.

[0094] In this embodiment, planning for the second navigation point sequence serves as an intermediate level for the third level of planning. Based on the multiple first spatiotemporal navigation points, precise navigation point planning is performed at the second spatiotemporal resolution, further providing a foundation for real-time planning of the third level of navigation information for the executor. During this second navigation point sequence planning, illumination can be treated as a static constraint.

[0095] In some embodiments of the present application, the second spatiotemporal resolution condition includes hourly temporal resolution and decameter spatial resolution.

[0096] Based on the accuracy of existing offline lunar maps (7 meters) and the environmental perception range of lunar robots (10-20 meters), the second spatiotemporal resolution is set to 10 meters in spatial resolution and hourly in temporal resolution. The spatial interval between two adjacent second navigation points in the second navigation point sequence is typically tens of meters, allowing a more accurate second navigation point sequence to be determined from the intervals between two adjacent first spatiotemporal navigation points.

[0097] Step 205: splice the multiple second navigation point sequences to obtain a third navigation point sequence.

[0098] As can be seen from the preceding, using adjacent first spatiotemporal navigation points as the phase starting point and phase target point, specifically, using the phase starting point coordinates and phase target point coordinates as input, a second navigation point sequence between these two first spatiotemporal navigation points on a high-precision offline lunar surface map can be obtained. Multiple second navigation point sequence results between adjacent first spatiotemporal navigation points can then be sequentially concatenated to obtain a third navigation point sequence between the first starting point and the first target point of the lunar exploration mission.

[0099] Step 206: Acquire the operating constraint information of the actuator and the lunar obstacle information within the sensing range of the actuator;

[0100] Step 207: Calculate the speed and motion information of the execution body under the third spatiotemporal resolution condition based on the operational constraint information, lunar obstacle information, and the third navigation point sequence. The third spatiotemporal resolution condition includes a second-level time resolution and a decimeter-level spatial resolution.

[0101] The actuator refers to robots, drones, astronaut-integrated robots, and other devices capable of performing missions on the lunar surface. The actuator's perception information includes at least its field of view. It can also acquire various other types of perception information through various devices, such as lidar, force sensors, temperature sensors, and spectrometers. Lunar obstacle information within the actuator's perception range can include the location, size, shape, and specific features of the obstacle.

[0102] The motion constraint information of the actuator may include human-robot collaboration constraints, multi-machine collaborative task constraints, and astronaut motion constraints.

[0103] Human-robot collaboration constraints refer to the restrictions on the mode and scope of collaboration between astronauts and robots due to factors such as technology, safety, and mission requirements when astronauts and robots work together in space missions. These include communication delays, robot autonomy constraints, safety constraints, and so on. Robot autonomy constraints refer to the fact that the robot's intelligence level and autonomous decision-making capabilities may limit the efficiency of its collaboration with astronauts. Multi-machine collaborative task constraints refer to the restrictions on the mode and scope of robot collaboration when multiple robots work together to complete complex tasks due to factors such as task requirements, resource allocation, and system coordination. These mainly include communication and coordination, resource constraints, and environmental perception sharing constraints. Resource constraints refer to the fact that multiple robots may share limited resources (such as electricity), and resource allocation needs to be optimized. Environmental perception sharing constraints refer to the need for robots to share environmental perception information (such as terrain and obstacles), but the fusion and consistency of sensor data may face challenges. Astronaut motion constraints refer to the limitations on astronauts' movement capabilities and range when performing missions in space or on the surfaces of celestial bodies such as the moon and Mars due to the special characteristics of the environment (such as microgravity, low gravity, vacuum, radiation, etc.) and the limitations of space suits. Astronaut motion constraints specifically include gravity environment constraints, space suit constraints, energy limitations, safety constraints, etc.

[0104] In an embodiment of the present application, the third navigation point sequence obtained in step 205 will serve as the basis for determining the navigation information of the executor when performing a lunar exploration mission, which can effectively improve the accuracy of the transfer path of the executor between each navigation point.

[0105] The process of determining the navigation information of the executive body is called the third navigation planning, which can also be called local online planning. The third navigation planning in the embodiment of the present application is the online navigation behavior planning of the executive body (lunar robot or lunar drone) within a range of several meters based on the executive body's own perception information. Among them, the perception range of the executive body includes minute-level time resolution and meter-level spatial resolution. Therefore, the scope of the executive body's third navigation planning can cover the first spatiotemporal resolution satisfied when the first spatiotemporal navigation point was planned for the first time. Figure 3 The figure shows a schematic diagram of the relationship between time and space resolutions provided in some embodiments of the present application. The first time and space resolution satisfied when planning the first navigation point is hourly time resolution (which can be specifically tens of hours or hundreds of hours) and hundred-meter spatial resolution; the second time and space resolution satisfied when planning the second navigation point sequence includes hourly time resolution (which can be specifically 1 hour or 0.8 hours, etc.) and ten-meter spatial resolution; when planning the navigation information of the third executor, the perception range of the executor is minute-level time resolution and meter-level spatial resolution.

[0106] Compared with the first navigation point planning and the second navigation sequence planning, the third navigation planning (local online planning) of this application requires real-time planning based on the perception information of the executor. The result of the third navigation planning directly affects the safety of the executor and task execution.

[0107] In the embodiment of the present application, the third navigation planning is the lowest level of the navigation point planning of the lunar exploration mission executor. In the specific implementation, the third navigation points obtained by the second navigation planning and splicing at intervals of several meters can be converted to the initial coordinate system of the executor to obtain the third initial point coordinates and the third target point coordinates of the third navigation planning. The third initial point coordinates are used as the origin of the initial coordinate system of the executor, and the third navigation information planning is performed within the perception range to obtain the speed information and motion information of the executor under the third spatiotemporal resolution conditions. The third spatiotemporal resolution includes a time resolution of the order of seconds and a spatial resolution of the order of decimeters. In other words, the present application can control the time period and the maneuvering distance of the executor per unit time through the third spatiotemporal resolution. Considering the moving speed and safety requirements of the executor, the third planning control time period of the present application is in the order of seconds, and the maneuvering distance of the executor per unit time is in the order of decimeters, that is, the third spatiotemporal resolution includes a time resolution of seconds and a spatial resolution of decimeters. The speed information and motion information of the executor at the order of seconds and decimeters are obtained based on the motion constraint information, lunar obstacle information and the third navigation point sequence, which are directly used to control the behavior of the executor. In practice, algorithms such as dynamic window methods, artificial potential field methods, and reinforcement learning can be used to calculate the actuator's speed at each third navigation point and its motion information for turns of varying radii. The actuator then completes its lunar exploration mission based on the real-time speed and motion information.

[0108] As can be seen from the above content, the embodiment of this application adopts the idea of ​​"divide and conquer" to address the characteristics of lunar navigation point planning, such as multiple constraint types, complex constraint influence domains that are difficult to uniformly handle, large constraint computing power and memory requirements, and high constraint calculation accuracy requirements. It proposes a method for efficiently describing and calculating constraints of different spatiotemporal scales at different levels. This application includes three levels from large to small in terms of spatiotemporal scale, namely, the first navigation point planning, the second navigation point sequence planning, and the final execution body navigation information planning, such as Figure 4As shown, it is a flowchart of lunar exploration navigation planning provided by some embodiments of the present application. The planning of the first spatiotemporal navigation point takes into account the lighting information and the first-level lunar terrain information on the offline map. The lighting information can be specifically time-varying lighting information. The first-level lunar terrain information can be specifically terrain slope information and terrain undulation information within a large range of the lunar surface, and multiple first spatiotemporal navigation points at the hourly and hundred-meter levels are obtained; the planning of the second navigation point sequence takes into account the second-level lunar terrain information and static lighting information within a range of one hundred meters, and after planning, a second navigation point sequence with a resolution of ten meters is obtained; the final navigation information planning of the executor takes into account the obstacle information perceived by the executor and the motion constraint information of the executor, and finally the navigation action information of the executor when performing the detection task is obtained.

[0109] like Figure 5 As shown in FIG, a schematic diagram of the relationship between reference factors for lunar exploration navigation planning provided by some embodiments of the present application is shown in FIG. Figure 5 As shown, the first navigation point planning takes into account the lighting information and terrain information, the second navigation point sequence planning takes into account the static lighting and terrain information, and the third navigation point planning takes into account the motion constraint information and obstacle information. Figure 6 As shown, it is a schematic diagram of navigation planning at each level provided by some embodiments of the present application. Figure 6 As can be seen from the left, the distance between two adjacent first navigation points in the first space-time navigation point planning is relatively far, and the scale span is large. Figure 6 As can be seen from the figure, the second navigation point sequence planning acts as an intermediate level, further providing the starting point and target point for the navigation information planning of the execution body. Figure 6 It can be seen that the third navigation information planning is the lowest level of navigation point planning for the lunar service robot. Its output is the robot navigation action sequence, which is directly used to control the robot behavior.

[0110] The embodiment of the present application obtains the task requirements and lighting information of the lunar exploration mission, determines multiple first space-time navigation points based on the task requirements and lighting information, takes two adjacent space-time navigation points among the multiple first space-time navigation points as the stage starting point and the stage target point, determines a second navigation point sequence between the stage starting point and the stage target point, splices the multiple second navigation point sequences to obtain a third navigation point sequence, obtains perception information of an executor, and the executor is used to execute the lunar exploration mission. Based on the perception information and the third navigation point sequence, the navigation information of the executor is determined. Through the multi-layer navigation planning of the present application, the lunar probe can perform effective real-time navigation when performing the exploration mission on the lunar surface.

[0111] It should be noted that for the method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present application are not limited by the order of the actions described, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

[0112] Reference Figure 7 , shows a schematic structural diagram of a navigation planning device for lunar exploration provided by some embodiments of the present application, which may specifically include the following modules:

[0113] The mission acquisition module 701 is configured to obtain mission requirements and lighting information of the lunar exploration mission;

[0114] A first planning module 702 is configured to determine a plurality of first spatiotemporal navigation points according to the task requirements and the lighting information;

[0115] The second planning module 703 is configured to use two adjacent spatiotemporal navigation points among the plurality of first spatiotemporal navigation points as a stage starting point and a stage target point, and determine a second navigation point sequence between the stage starting point and the stage target point;

[0116] A splicing module 704 is configured to splice a plurality of said second navigation point sequences to obtain a third navigation point sequence;

[0117] A perception information acquisition module 705 is configured to acquire perception information of an execution body, the execution body being used to execute the lunar surface exploration mission;

[0118] The navigation determination module 706 is configured to determine navigation information of the execution body according to the perception information and the third navigation point sequence.

[0119] In an optional embodiment of the present application, the task requirements include first starting point information, first target point information, a first starting time, and a first target arrival time. The first planning module 702 includes:

[0120] a map acquisition submodule, configured to acquire an offline lunar map, wherein the lunar offline map includes first-level lunar terrain information;

[0121] The first planning submodule is configured to determine a plurality of first spatiotemporal navigation points that meet preset lighting conditions and first spatiotemporal resolution conditions on the lunar offline map based on the mission requirements, the first-level lunar terrain information and the lighting information.

[0122] In an optional embodiment of the present application, the second planning module 703 includes:

[0123] a local lunar surface topography acquisition submodule, configured to acquire second-level lunar surface topography information, wherein the second-level lunar surface topography information includes slope information and undulation information;

[0124] The second planning submodule is configured to calculate a second navigation point sequence between the stage starting point and the stage target point that meets the second spatiotemporal resolution condition based on the second-level lunar surface terrain information using a path search algorithm.

[0125] In an optional embodiment of the present application, the perception information acquisition module 705 includes:

[0126] The perception information acquisition submodule is configured to obtain the operation constraint information of the actuator and the lunar surface obstacle information within the perception range of the actuator.

[0127] The navigation determination module 706 includes:

[0128] The navigation determination submodule is configured to calculate the speed information and motion information of the executor under the third spatiotemporal resolution conditions based on the operation constraint information, lunar obstacle information and the third navigation point sequence, wherein the third spatiotemporal resolution conditions include second-level time resolution and decimeter-level spatial resolution.

[0129] In an optional embodiment of the present application, the perception range of the executive entity includes minute-level time resolution and meter-level spatial resolution.

[0130] In an optional embodiment of the present application, the first spatiotemporal resolution condition includes hourly temporal resolution and hundred-meter spatial resolution.

[0131] In an optional embodiment of the present application, the second spatiotemporal resolution condition includes hourly temporal resolution and decameter spatial resolution.

[0132] Reference Figure 8 , shows a computer device provided by some embodiments of the present application, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0133] Obtain mission requirements and lighting information for lunar exploration missions;

[0134] Determining a plurality of first spatiotemporal navigation points according to the task requirements and the lighting information;

[0135] Taking two adjacent spatiotemporal navigation points among the plurality of first spatiotemporal navigation points as a stage starting point and a stage target point, and determining a second navigation point sequence between the stage starting point and the stage target point;

[0136] splicing a plurality of said second navigation point sequences to obtain a third navigation point sequence;

[0137] Acquiring perception information of an actuator, wherein the actuator is used to perform the lunar surface exploration mission;

[0138] Navigation information of the execution body is determined based on the perception information and the third navigation point sequence.

[0139] An embodiment of the present application also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the navigation planning method for lunar exploration as described above.

[0140] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the navigation planning method for lunar exploration as described above is implemented.

[0141] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0142] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0143] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0144] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, devices, or computer program products. Therefore, the embodiments of the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0145] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0146] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0147] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0148] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0149] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "includes," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the above elements.

[0150] The above is a detailed introduction to the provided navigation planning method, device, equipment and medium for lunar exploration. Specific examples are used in this article to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method of this application and its core idea; at the same time, for general technical personnel in this field, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on this application.

Claims

1. A navigation planning method for lunar exploration, characterized in that: The method comprises: Obtain mission requirements and lighting information for lunar exploration missions; Determining a plurality of first spatiotemporal navigation points according to the task requirements and the lighting information; Taking two adjacent spatiotemporal navigation points among the plurality of first spatiotemporal navigation points as a stage starting point and a stage target point, and determining a second navigation point sequence between the stage starting point and the stage target point; splicing a plurality of said second navigation point sequences to obtain a third navigation point sequence; Acquiring perception information of an actuator, wherein the actuator is used to perform the lunar surface exploration mission; Navigation information of the execution body is determined based on the perception information and the third navigation point sequence.

2. The method according to claim 1, characterized in that The task requirements include first starting point information, first target point information, a first starting time, and a first target arrival time. Determining a plurality of initial spatiotemporal navigation points based on the task requirements and the illumination information includes: Obtaining an offline lunar surface map, wherein the offline lunar surface map includes first-level lunar surface terrain information; Based on the mission requirements, the first-level lunar terrain information and the lighting information, a plurality of first spatiotemporal navigation points that meet preset lighting conditions and first spatiotemporal resolution conditions are determined on the lunar offline map.

3. The method according to claim 2, characterized in that The determining of a second navigation point sequence between the stage starting point and the stage target point comprises: Acquiring second-level lunar surface topography information, where the second-level lunar surface topography information includes slope information and undulation information; Based on the second-level lunar surface terrain information, a path search algorithm is used to calculate a second navigation point sequence between the stage starting point and the stage target point that meets the second spatiotemporal resolution condition.

4. The method according to claim 2, characterized in that The acquiring of the perception information of the execution body includes: Acquiring operational constraint information of the actuator and lunar obstacle information within the sensing range of the actuator; The determining, based on the perception information and the third navigation point sequence, navigation information of the executable includes: Based on the operation constraint information, lunar obstacle information and the third navigation point sequence, the speed information and motion information of the executor under the third spatiotemporal resolution condition are calculated, and the third spatiotemporal resolution condition includes a second-level time resolution and a decimeter-level spatial resolution.

5. The method according to claim 4, characterized in that The perception range of the executive body includes minute-level temporal resolution and meter-level spatial resolution.

6. The method according to claim 3, characterized in that The first spatiotemporal resolution condition includes hourly temporal resolution and hundred-meter spatial resolution.

7. The method according to claim 4, characterized in that The second spatiotemporal resolution condition includes hourly temporal resolution and ten-meter spatial resolution.

8. A navigation planning device for lunar exploration, characterized in that: The device comprises: A mission acquisition module configured to obtain mission requirements and lighting information for a lunar exploration mission; A first planning module is configured to determine a plurality of first spatiotemporal navigation points based on the task requirements and the lighting information; A second planning module is configured to use two adjacent spatiotemporal navigation points among the plurality of first spatiotemporal navigation points as a stage starting point and a stage target point, and determine a second navigation point sequence between the stage starting point and the stage target point; a splicing module configured to splice a plurality of said second navigation point sequences to obtain a third navigation point sequence; a perception information acquisition module, configured to acquire perception information of an executive body, the executive body being used to perform the lunar surface exploration mission; The navigation determination module is configured to determine the navigation information of the execution body according to the perception information and the third navigation point sequence.

9. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the method implements the navigation planning method for lunar exploration as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the navigation planning method for lunar exploration according to any one of claims 1 to 7.

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