A lunar exploration navigation planning method, device, equipment and medium

Abstract

The embodiment of the application provides a kind of lunar surface exploration navigation planning method, applied to deep space exploration field, by obtaining the task demand and illumination information of lunar surface exploration task, according to task demand and illumination information, determine a plurality of first space-time navigation points, adjacent two space-time navigation points in a plurality of first space-time navigation points are regarded as stage starting point and stage target point, determine the second navigation point sequence between stage starting point and stage target point, the second navigation point sequence is spliced, and the third navigation point sequence is obtained, the perception information of execution body is acquired, and the execution body is used to execute lunar surface exploration task, according to the perception information and third navigation point sequence, determine the navigation information of execution body, by the multi-layer navigation planning of the application, so that lunar surface explorer carries out effective real-time navigation when executing exploration task on lunar surface.

Description

Technical Field

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

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

[0003] Lunar exploration missions are not only important platforms for scientific exploration and technological innovation, but also key links in 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 pressure on computing power and storage capacity.

[0005] Application content

[0006] In view of the above problems, a navigation planning method, apparatus, equipment, and medium for lunar surface 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 this application, a navigation planning method for lunar surface exploration is provided, characterized in that the method comprises:

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

[0009] Based on the task requirements and the lighting information, multiple first spatiotemporal navigation points are determined;

[0010] Take two adjacent spatiotemporal navigation points among the plurality of first spatiotemporal navigation points as the stage start point and the stage target point, and determine the second navigation point sequence between the stage start point and the stage target point;

[0011] Multiple second navigation point sequences are concatenated to obtain a third navigation point sequence;

[0012] Acquire the perception information of the actuator, which is used to perform the lunar exploration mission;

[0013] Based on the perceived information and the third navigation point sequence, the navigation information of the actuator is determined.

[0014] In some optional embodiments of this application, the task requirements include a first spatiotemporal starting point, a first spatiotemporal ending point, a first start time, and a first target arrival time. The step of determining multiple initial spatiotemporal navigation points based on the task requirements and the illumination information includes:

[0015] Obtain an offline lunar map, which includes first-level lunar topographic information;

[0016] Based on the first start time, the first target arrival time, the first spatiotemporal starting point, the first spatiotemporal ending point, the first-level lunar surface topography information, and the illumination information, multiple initial spatiotemporal navigation points that meet the preset illumination conditions and the first spatiotemporal resolution conditions are determined on the offline lunar map.

[0017] In some optional embodiments of this application, determining the second navigation point sequence between the phase start point and the phase target point includes:

[0018] Acquire second-level lunar surface topography information, which includes slope information and undulation information;

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

[0020] In some optional embodiments of this application, determining the second navigation point sequence between the phase start point and the phase target point includes:

[0021] Acquire second-level lunar surface topography information, which includes slope information and undulation information;

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

[0023] In some optional embodiments of this application, obtaining the perception information of the executor includes:

[0024] Obtain the operational constraint information of the actuator and the lunar surface obstacle information of the actuator within the perception range;

[0025] Determining the navigation information of the actuator based on the perceived information and the third navigation point sequence includes:

[0026] Based on the operational constraint information, lunar surface obstacle information, and the third navigation point sequence, the velocity and motion information of the actuator under the third spatiotemporal resolution condition are calculated. The third spatiotemporal resolution condition includes second-level temporal resolution and decimeter-level spatial resolution.

[0027] In some optional embodiments of this application, the sensing range of the actuator includes minute-level temporal resolution and meter-level spatial resolution.

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

[0029] In some optional embodiments of this application, the second spatiotemporal resolution condition includes hourly temporal resolution and ten-meter spatial resolution.

[0030] In a second aspect of this application, a navigation planning device for lunar surface exploration is also provided, characterized in that the device comprises:

[0031] The acquisition module is configured to acquire the mission requirements and illumination information for the lunar surface exploration mission.

[0032] The mission acquisition module is configured to acquire mission requirements and illumination information for lunar exploration missions.

[0033] The first planning module is configured to determine multiple first spatiotemporal navigation points based on the task requirements and the lighting information;

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

[0035] The splicing module is configured to splice multiple second navigation point sequences to obtain a third navigation point sequence;

[0036] The perception information acquisition module is configured to acquire the perception information of the execution body, which is used to perform the lunar exploration mission.

[0037] The navigation determination module is configured to determine the navigation information of the actuator based on the perception information and the third navigation point sequence.

[0038] This 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, wherein the computer program, when executed by the processor, implements the navigation planning method for lunar exploration as described above.

[0039] This application also 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, it implements the navigation planning method for lunar exploration as described above.

[0040] This application embodiment obtains the mission requirements and illumination information of the lunar exploration mission, determines multiple first spatiotemporal navigation points based on the mission requirements and illumination information, uses two adjacent spatiotemporal navigation points as the stage start point and stage target point, determines the second navigation point sequence between the stage start point and stage target point, splices multiple second navigation point sequences to obtain a third navigation point sequence, obtains the perception information of the execution body, the execution body is used to perform the lunar exploration mission, and determines the navigation information of the execution body based on the perception information and the third navigation point sequence. Through the multi-layer navigation planning of this application, the lunar probe can perform effective real-time navigation when performing exploration missions on the lunar surface. Attached Figure Description

[0041] To more clearly illustrate the technical solution of this application, the drawings used in the description of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0044] Figure 3 This is a schematic diagram of the spatiotemporal resolution relationship provided in some embodiments of this application;

[0045] Figure 4 This is a flowchart of lunar exploration navigation planning provided in some embodiments of this application;

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

[0047] Figure 6 These are schematic diagrams of navigation planning at various levels for lunar surface exploration provided in some embodiments of this application;

[0048] Figure 7 This is a structural block diagram of a navigation and planning device for lunar exploration provided in some embodiments of this application;

[0049] Figure 8 This is a schematic diagram of a computer device provided in some embodiments of this application. Detailed Implementation

[0050] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0051] Lunar exploration missions are highly complex systems engineering projects, requiring completion under the influence of numerous factors, including mission objective traction, lunar surface environment constraints, robot performance limitations, and human-robot or multi-robot collaborative tasks. These factors also significantly constrain the robot's navigation point sequence planning task and system design. The constraints of lunar surface navigation point planning have the following characteristics:

[0052] (1) There are many types of constraints. The constraints of lunar navigation point planning include both external environmental constraints and internal constraints of the robot's own maneuverability; 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. Dynamic lighting conditions and other time-varying factors mainly constrain the navigation point planning of long-term maneuver missions; macro-level terrain undulations, slopes, static lighting and other factors mainly constrain the navigation point planning of large-scale maneuver missions; local terrain, robot maneuvering characteristics and astronaut assistance requirements and other factors cannot be represented based on offline lunar topographic maps and need to be determined by the robot's online perception, which mainly affects the robot's local motion planning.

[0054] (3) Constraints on computational power and memory requirements. For long-term, long-distance navigation point planning problems, the map size is huge and the time depth of the solution space is long. At this time, the constraints of macro-terrain undulation, slope, and illumination based on high-precision terrain data will face unacceptable computation time.

[0055] (4) High precision is required for constraint calculation. Related technologies cannot meet the requirements of decimeter or centimeter-level high-precision navigation behavior planning that is crucial to robot safety.

[0056] Reference Figure 1 This document illustrates a flowchart of the navigation planning method for lunar exploration provided in some embodiments of this application, which may specifically include the following steps:

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

[0058] Lunar exploration missions refer to a series of activities involving human or unmanned probes to conduct scientific exploration and research on the lunar surface. These missions aim to acquire information on the Moon's geological, chemical, and physical properties to enhance our understanding of its formation, evolution, and relationship with Earth. For example, geological studies analyze 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 illumination information are crucial for lunar exploration mission planning and execution. Mission requirements can include spatiotemporal information and illumination requirements to be met during mission execution, such as avoiding shadowed areas or ensuring solar power supply. Illumination information is critical for the energy supply, equipment temperature, and mission timeline planning of lunar exploration missions.

[0059] To obtain the mission requirements for a lunar exploration mission, which can be a long-term mission lasting several days or months, such as a lunar south pole sun-synchronous orbiting mission, the specific requirements include the first starting point, the first target point, the first start 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 can include the coordinates of point A, the coordinates of point B, the start time of the exploration mission from point A, and the target arrival time when the mission ends at point B.

[0060] Step 102: Based on the task requirements and lighting information, determine multiple primary spatiotemporal navigation points.

[0061] In the embodiments of this application, the illumination information specifically refers to time-varying illumination constraints. Time-varying illumination constraints refer to the fact that in lunar exploration missions, due to the rotation and revolution of the moon, the illumination conditions will change over time, thereby having a dynamic impact on the mission's energy supply, equipment temperature, and mission time planning.

[0062] Because most entities performing top-level tasks require solar power, this embodiment of the application determines the first spatiotemporal navigation point not only based on task requirements but also on illumination information during the first-level planning, ensuring that all first spatiotemporal navigation points are within the sunlight-covered area. This eliminates the need to consider time-varying illumination constraints in subsequent planning.

[0063] When planning lunar surface exploration navigation, the first level of spatiotemporal navigation point planning is performed to obtain multiple first spatiotemporal navigation points. At this level, on the one hand, the spatiotemporal granularity is the largest, the spatiotemporal range is the largest, and the requirement for optimal planning results is the highest; on the other hand, over a large time period and distance scale, lunar navigation planning faces a huge map size and temporal depth, resulting in a vast solution space for navigation points. Therefore, planning typically requires reducing the temporal and spatial resolution of the map, and determining and planning the first spatiotemporal navigation points on a map with a certain coarse granularity. In other words, the determination of the first spatiotemporal navigation points involves planning an initial globally optimal navigation point sequence over a relatively long time range and a large spatial scale, under the constraints of the time-varying lunar environment.

[0064] Step 103: Take two adjacent spatiotemporal navigation points from the multiple first spatiotemporal navigation points as the stage start point and the stage target point, and determine the second navigation point sequence between the stage start point and the stage target point.

[0065] In step 103, a second static planning is performed based on multiple first spatiotemporal navigation points. Adjacent spatiotemporal navigation points from these first spatiotemporal navigation points are sequentially used as the stage start point and stage target point. Optimal navigation point planning between the stage start point and stage target point is performed on a scale of several hundred meters. Essentially, this is offline global navigation point planning under the constraints of the lunar surface static environment. This also means that when performing this layer of planning, it is not necessary to consider the dynamic changes in solar illumination, but rather to focus more on the topographic changes of the lunar surface, attempting to achieve more precise navigation between two initial navigation points. That is, more second navigation points are planned between two adjacent first spatiotemporal navigation points. It should be noted that the sequence of second navigation points determined between two adjacent first spatiotemporal navigation points includes multiple second navigation points.

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

[0067] As can be seen from the foregoing, a second navigation point sequence is obtained between two first spatiotemporal navigation points. For example, the second navigation point sequence between first spatiotemporal navigation point A and its adjacent first spatiotemporal navigation point B is AB[N], which includes second navigation points AB[0], AB[1], AB[2], ..., AB[n-1]. Then, for each pair of adjacent first spatiotemporal navigation points, multiple second navigation point sequences can be obtained, such as BC[N] (assuming it includes second navigation points BC[0], BC[1], BC[2], ..., BC[n-1]), CD[N] (assuming it includes second navigation points CD[0], CD[1], CD[2], ..., CD[n-1]), DE[N], etc. By concatenating these second navigation points in order, multiple third navigation point sequences are obtained.

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

[0069] In this embodiment, 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, etc., capable of performing tasks on the lunar surface. For drones or robots, as the executers, the perceived information refers to data acquired through sensors regarding the lunar surface environment, their own state, and mission objectives. This information forms the basis for the executers to navigate, avoid obstacles, conduct scientific exploration, and perform missions on the lunar surface.

[0070] The main sensing information for the actuators in lunar exploration includes environmental information. Environmental information includes, but is not limited to, terrain information, surface material information, real-time illumination information, and real-time temperature information. Specifically, terrain information can be acquired using lidar, stereo vision cameras, or depth cameras, and this terrain information can include obstacles and constraints within the actuator's sensing range. Surface material information can also be obtained by detecting the composition of materials on the lunar surface using spectrometers, infrared sensors, or radar. Real-time illumination information can be obtained by sensing the illumination conditions on the lunar surface (such as day-night variations and shadowed areas) using light sensors. Real-time temperature information can be obtained by sensing extreme temperature variations on the lunar surface (reaching 127°C during the day and dropping to -173°C at night), which is used for equipment protection and scientific exploration.

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

[0072] As can be seen from the foregoing, illumination information was taken into account when determining the first spatiotemporal navigation point. Based on the first spatiotemporal navigation point, a second navigation point sequence was determined between every two adjacent first spatiotemporal navigation points. The third navigation point sequence was obtained by sequentially splicing multiple second navigation point sequences.

[0073] After planning the navigation points in steps 101 to 104, a third navigation point sequence is obtained. This third navigation point sequence serves as the basis for determining the navigation information of the execution body when performing lunar exploration missions, and can effectively improve the accuracy of the transfer path of the execution body between navigation points.

[0074] As shown in step 105, the executor in this embodiment acquires its perception information when performing a lunar exploration mission. Therefore, based on the perception information and the obtained third navigation point sequence, the navigation information of the executor is determined. This embodiment ensures the safe and efficient execution of the mission by determining the first spatiotemporal navigation point, determining the second navigation point sequence, and finally determining the navigation information of the executor.

[0075] This application embodiment obtains the mission requirements and illumination information of the lunar exploration mission, determines multiple first spatiotemporal navigation points based on the mission requirements and illumination information, uses two adjacent spatiotemporal navigation points as the stage start point and stage target point, determines the second navigation point sequence between the stage start point and stage target point, splices multiple second navigation point sequences to obtain a third navigation point sequence, obtains the perception information of the execution body, the execution body is used to perform the lunar exploration mission, and determines the navigation information of the execution body based on the perception information and the third navigation point sequence. Through the multi-layer navigation planning of this application, the lunar probe can perform effective real-time navigation when performing exploration missions on the lunar surface.

[0076] Reference Figure 2 This document illustrates a flowchart of another navigation planning method for lunar exploration provided in some embodiments of this application, which may specifically include the following steps:

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

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

[0079] Step 201 is identical to step 101 and will not be repeated here. The mission requirements for the lunar exploration mission include information on the first starting point, the first target point, the first start 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 mission's endpoint. The first start time and the first target arrival time refer to the time points at which the exploration mission begins and ends.

[0080] Offline lunar maps refer to high-precision lunar surface maps pre-built and stored on local equipment (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 awareness support for exploration equipment during mission execution. Offline lunar maps are based on data acquired by lunar orbiting satellites or previous exploration missions. This data is uploaded to the exploration equipment's local storage system before the mission, eliminating the need for real-time communication and making it suitable for situations with communication delays or interruptions.

[0081] In some embodiments of this example, the lunar offline map includes first-level lunar topographic information, which may include high-resolution topographic, geomorphological, and geological information, specifically including elevation data, crater distribution, rock locations, slope information, etc. The lunar offline map can also be combined with multiple data sources, such as optical imagery, lidar data, radar data, etc., to provide comprehensive environmental information.

[0082] Step 203: Based on the mission requirements, first-level lunar surface terrain information, and illumination information, determine multiple first-time-space navigation points on the lunar offline map that meet the preset illumination conditions and first-time-space resolution conditions.

[0083] The preset lighting conditions refer to the lighting requirements that need to be met during mission execution. Most probes generate electricity using solar power. Therefore, meeting the preset lighting conditions specifically means avoiding shadowed areas. Thus, 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 sunlight-covered area.

[0084] The first spatiotemporal resolution condition refers to the basic requirements for temporal and spatial accuracy during the initial planning phase. First spatiotemporal resolution includes spatial resolution and temporal resolution. Spatial resolution refers to the minimum distance between navigation points or the fineness of area division on an offline lunar map. In initial planning, spatial resolution is relatively low, mainly used to determine the approximate path and key nodes, rather than detailed steps. For example, if the first spatiotemporal resolution condition requires a spatial resolution of 1 kilometer, then the interval between navigation points is typically around 1 kilometer. Temporal resolution refers to the distribution density of navigation points in the time dimension, i.e., the time interval or time window for task execution. In initial planning, temporal resolution is relatively low, mainly used to determine key time nodes of the task (such as the time points when lighting conditions change); if the first spatiotemporal resolution condition requires a time resolution of 1 hour, then the time interval between navigation points is typically around 1 hour.

[0085] In some embodiments of this application, the first spatiotemporal resolution condition includes hour-level temporal resolution and hundred-meter-level 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. This means that the distance between two adjacent navigation points in the multiple first spatiotemporal navigation points is relatively far and the scale span is large.

[0086] As can be seen from the foregoing, 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 surface topography information, and illumination information, multiple first spatiotemporal navigation points that meet the preset illumination conditions and first spatiotemporal resolution conditions can be determined on the lunar offline map. In the embodiment of this application, the topographic changes on the lunar surface are considered when planning the first spatiotemporal navigation points, thereby obtaining an initial global optimal navigation point sequence (i.e., multiple first spatiotemporal navigation points) under the coarse spatiotemporal resolution conditions (i.e., the first spatiotemporal resolution conditions).

[0087] Step 204: Take two adjacent spatiotemporal navigation points from the multiple first spatiotemporal navigation points as the stage start point and the stage target point, and determine the second navigation point sequence between the stage start point and the stage target point.

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

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

[0090] Sub-step 12: Based on the second-level lunar surface topography information, use the path search algorithm to calculate the sequence of second navigation points between the stage starting point and the stage target point that satisfy the second spatiotemporal resolution condition.

[0091] This application embodiment performs a second planning based on the initial global optimal navigation point sequence (i.e., multiple first spatiotemporal navigation points). The second optimal navigation point planning between the first spatiotemporal navigation points is carried out on a scale of several hundred meters. Since the lighting information has been considered when planning the first spatiotemporal navigation points, it is ensured that all first spatiotemporal navigation points fall within the lighting range.

[0092] Therefore, the planning of the second navigation point sequence is essentially navigation point planning under the constraints of the static lunar environment. In this embodiment, the second planning does not need to consider the dynamic changes in solar radiation, but rather focuses more on the topographic changes of the lunar surface. Second-level lunar surface topographic information is obtained, including lunar slope and undulation information within a range of several hundred meters. Based on this information, the second navigation point sequence between two adjacent first navigation points is calculated. More navigation points are planned between two adjacent first spatiotemporal navigation points, enabling more precise navigation between them. The second-level lunar surface topographic information may also include crater distribution information, rock distribution information, and lunar soil characteristics.

[0093] In some implementations of this embodiment, path search algorithms such as Dijkstra's algorithm, A*, and RRT (Rapidly-exploring Random Tree) can be used to calculate the sequence of second navigation points between the stage start node and the stage target node 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 chosen; if an efficient shortest path search is required and a heuristic function is available, A* is chosen; and if the environment is complex, high-dimensional, or dynamic, RRT is chosen.

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

[0095] In some embodiments of this application, the second spatiotemporal resolution condition includes hourly temporal resolution and ten-meter spatial resolution.

[0096] Based on the existing offline lunar map accuracy (7m) and the environmental perception range of the lunar robot (10-20m), the second spatiotemporal resolution is set to a spatial resolution of ten meters and a temporal resolution of hours. Therefore, the spatial interval between two adjacent second navigation points in the second navigation point sequence is typically around tens of meters, allowing for the determination of a more precise second navigation point sequence from between two adjacent first spatiotemporal navigation points.

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

[0098] As described above, using adjacent first spatiotemporal navigation points as the stage start point and stage target point, specifically, the coordinates of the stage start point and stage target point can be used as input to obtain the second navigation point sequence between these two first spatiotemporal navigation points on the high-precision offline lunar map. Then, by sequentially concatenating multiple second navigation point sequences between adjacent first spatiotemporal navigation points, the third navigation point sequence between the first starting point and the first target point of the lunar exploration mission can be obtained.

[0099] Step 206: Obtain the operational constraint information of the executor and the lunar surface obstacle information within the perception range of the executor;

[0100] Step 207: Based on the operational constraint information, lunar surface obstacle information, and third navigation point sequence, calculate the velocity and motion information of the executor under the third spatiotemporal resolution condition. The third spatiotemporal resolution condition includes second-level temporal resolution and decimeter-level spatial resolution.

[0101] The term "executor" refers to robots, drones, astronaut-assisted robots, etc., capable of performing tasks on the lunar surface. The actuator's perception information includes at least its field-of-view perception information, and can also acquire various other perception information through devices such as lidar, force sensors, temperature sensors, and spectrometers. Information on lunar surface obstacles within the actuator's perception range can include the obstacle's location, size, shape, and specific details.

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

[0103] Human-robot collaboration constraints refer to the limitations on the collaboration methods and scope between astronauts and robots during space missions due to factors such as technology, safety, and mission requirements. These include constraints on communication latency, robot autonomy, and safety. Robot autonomy constraints refer to the potential limitations on the efficiency of collaboration between robots and astronauts due to the robot's level of intelligence and autonomous decision-making capabilities. Multi-robot collaborative task constraints refer to the limitations on the collaboration methods and scope when multiple robots collaborate to complete complex tasks, due to factors such as mission requirements, resource allocation, and system coordination. These mainly include constraints on communication and coordination, resource constraints, and environmental perception sharing. Resource constraints refer to the possibility that multiple robots may share limited resources (such as electricity), requiring optimized resource allocation. 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 an astronaut's ability and range of motion when performing missions in space or on the surface of celestial bodies such as the Moon and Mars, due to the special environmental conditions (such as microgravity, low gravity, vacuum, radiation, etc.) and the limitations of spacesuits. Astronaut motion constraints can specifically include gravity environment constraints, spacesuit constraints, energy limitations, safety constraints, etc.

[0104] In this embodiment, the third navigation point sequence obtained in step 205 will serve as the basis for determining the navigation information of the execution body when performing a lunar exploration mission. This can effectively improve the accuracy of the transfer path of the execution body between navigation points.

[0105] The process of determining the navigation information of the actuator is called the third navigation planning, also known as local online planning. In this embodiment, the third navigation planning is an online navigation behavior planning within a range of several meters by the actuator (lunar robot or lunar drone) based on its own perception information. The actuator's perception range includes minute-level temporal resolution and meter-level spatial resolution. Therefore, the range of the actuator's third navigation planning can cover the first spatiotemporal resolution satisfied when the first spatiotemporal navigation point was planned in the first planning stage. Figure 3 The diagram illustrates the spatiotemporal resolution relationships provided in some embodiments of this application. The first spatiotemporal resolution satisfied during the planning of the first navigation point is an hourly time resolution (which can be specifically tens or hundreds of hours) and a hundred-meter spatial resolution; the second spatiotemporal resolution satisfied during the planning of the second navigation point sequence includes an hourly time resolution (which can be specifically 1 hour or 0.8 hours, etc.) and a ten-meter spatial resolution; during the planning of the third execution body navigation information, the perception range of the execution body is a minute-level time resolution and a meter-level spatial resolution.

[0106] Compared to the first navigation point planning and the second navigation sequence planning, the third navigation planning (partial online planning) of this application needs to be planned in real time based on the perception information of the executor. The result of the third navigation planning directly affects the safety of the executor and the execution of the task.

[0107] In this embodiment, the third navigation planning is the lowest level of navigation point planning for the lunar exploration mission's executor. In specific implementation, the third navigation points, obtained through the second navigation planning and splicing, with intervals of several meters, can be transformed into the executor's initial coordinate system to obtain the coordinates of the third initial point and the third target point. The third initial point coordinates serve as the origin of the executor's initial coordinate system. Within the perception range, the third navigation information planning is performed to obtain the executor's velocity and motion information under the third spatiotemporal resolution condition. The third spatiotemporal resolution includes a time resolution on the order of seconds and a spatial resolution on the order of decimeters. In other words, this application can control the time period and the executor's maneuvering distance per unit time through the third spatiotemporal resolution. Considering the executor's movement speed and safety requirements, the third planning control time period in this application is on the order of seconds, and the executor's maneuvering distance per unit time is on the order of decimeters. Therefore, the third spatiotemporal resolution includes a time resolution on the order of seconds and a spatial resolution on the order of decimeters. By obtaining the executor's velocity and motion information at the order of seconds and decimeters based on motion constraint information, lunar obstacle information, and the third navigation point sequence, it can be directly used to control the executor's behavior. In practical implementation, algorithms such as dynamic windowing, artificial potential field, and reinforcement learning can be used to calculate the executor's movement speed at each third navigation point and its turning motions at different radii. The executor then performs the lunar exploration mission based on the real-time speed and motion information obtained.

[0108] As can be seen from the above, this application addresses the challenges of lunar navigation point planning, such as the numerous constraint types, complex constraint influence domains that are difficult to handle uniformly, high constraints requiring significant computational power and memory, and high precision in constraint calculations. It adopts a "divide and conquer" approach, proposing a method to efficiently describe and calculate constraints at different spatiotemporal scales at different levels. This application includes three levels arranged from largest to smallest spatiotemporal scale: first navigation point planning, second navigation point sequence planning, and final execution body navigation information planning, as follows... Figure 4The diagram shows a flowchart of lunar surface exploration navigation planning provided in some embodiments of this application. The planning of the first spatiotemporal navigation points considers illumination information and first-level lunar surface terrain information on an offline map. Specifically, the illumination information can be time-varying illumination information, and the first-level lunar surface terrain information can be terrain slope information and terrain undulation information over a large area of ​​the lunar surface, resulting in multiple first spatiotemporal navigation points at the hourly and hundred-meter levels. The planning of the second navigation point sequence considers the second-level lunar surface terrain information and static illumination information within a hundred-meter range, resulting in a second navigation point sequence with a resolution of ten meters. Finally, the navigation information planning of the executor considers the obstacle information perceived by the executor and the motion constraint information of the executor, ultimately obtaining the navigation action information of the executor when performing the exploration mission.

[0109] like Figure 5 The diagram shown illustrates the relationship between reference factors for lunar surface exploration navigation planning in some embodiments of this application. Figure 5 As shown, the planning of the first navigation point considered lighting and terrain information, the planning of the second navigation point sequence considered static lighting and terrain information, and the planning of the third navigation point considered motion constraint information and obstacle information. Figure 6 The diagram shown is a schematic representation of navigation planning at various levels provided in some embodiments of this application. Figure 6 As can be seen from the leftmost point, in the planning of the first spatiotemporal navigation point, the distance between two adjacent first navigation points is relatively large, with a large scale span. From... Figure 6 As can be seen from the middle, 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 executor. 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, and its output is a sequence of robot navigation actions, which is directly used to control the robot's behavior.

[0110] This application embodiment obtains the mission requirements and illumination information of the lunar exploration mission, determines multiple first spatiotemporal navigation points based on the mission requirements and illumination information, uses two adjacent spatiotemporal navigation points as the stage start point and stage target point, determines the second navigation point sequence between the stage start point and stage target point, splices multiple second navigation point sequences to obtain a third navigation point sequence, obtains the perception information of the execution body, the execution body is used to perform the lunar exploration mission, and determines the navigation information of the execution body based on the perception information and the third navigation point sequence. Through the multi-layer navigation planning of this application, the lunar probe can perform effective real-time navigation when performing exploration missions on the lunar surface.

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

[0112] Reference Figure 7 The diagram shows a schematic representation of a navigation and planning device for lunar exploration according to some embodiments of this application, which may specifically include the following modules:

[0113] The mission acquisition module 701 is configured to acquire mission requirements and illumination information for lunar exploration missions.

[0114] The first planning module 702 is configured to determine multiple first spatiotemporal navigation points based on the task requirements and the illumination information;

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

[0116] The splicing module 704 is configured to splice multiple second navigation point sequences to obtain a third navigation point sequence;

[0117] The perception information acquisition module 705 is configured to acquire the perception information of the execution body, which is used to perform the lunar exploration mission.

[0118] The navigation determination module 706 is configured to determine the navigation information of the executor based on the perception information and the third navigation point sequence.

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

[0120] The map acquisition submodule is configured to acquire an offline lunar map, which includes first-level lunar terrain information.

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

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

[0123] The local lunar terrain acquisition submodule is configured to acquire second-level lunar terrain information, which includes slope information and undulation information.

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

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

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

[0127] The navigation determination module 706 includes:

[0128] The navigation determination submodule is configured to calculate the velocity and motion information of the actuator under a third spatiotemporal resolution condition based on the operational constraint information, lunar surface obstacle information, and the third navigation point sequence. The third spatiotemporal resolution condition includes a second-level temporal resolution and a decimeter-level spatial resolution.

[0129] In an optional embodiment of this application, the sensing range of the actuator includes minute-level temporal resolution and meter-level spatial resolution.

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

[0131] In an optional embodiment of this application, the second spatiotemporal resolution condition includes hourly temporal resolution and ten-meter spatial resolution.

[0132] Reference Figure 8 This application illustrates a computer device according to some embodiments, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps:

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

[0134] Based on the task requirements and the lighting information, multiple first spatiotemporal navigation points are determined;

[0135] Take two adjacent spatiotemporal navigation points among the plurality of first spatiotemporal navigation points as the stage start point and the stage target point, and determine the second navigation point sequence between the stage start point and the stage target point;

[0136] Multiple second navigation point sequences are concatenated to obtain a third navigation point sequence;

[0137] Acquire the perception information of the actuator, which is used to perform the lunar exploration mission;

[0138] Based on the perceived information and the third navigation point sequence, the navigation information of the actuator is determined.

[0139] An embodiment of this 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 surface exploration as described above.

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

[0141] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the 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, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals are provided for users to choose to authorize or refuse.

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

[0144] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this application can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0145] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0146] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more 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 equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0148] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0149] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the aforementioned element.

[0150] The above provides a detailed description of the navigation planning method, apparatus, equipment, and medium for lunar surface exploration. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method of navigation planning for lunar exploration, characterized in that, The method comprises: obtaining task requirements and illumination information of a lunar exploration task; wherein the illumination information is time-varying illumination constraints determined by dynamic changes in illumination conditions caused by rotation and revolution of the moon; determining a plurality of first spatio-temporal navigation points according to the task requirements and the illumination information; determining a second navigation point sequence between a stage starting point and a stage target point by taking the adjacent two spatio-temporal navigation points in the plurality of first spatio-temporal navigation points as the stage starting point and the stage target point; splicing a plurality of second navigation point sequences to obtain a third navigation point sequence; obtaining perception information of an execution body used to execute the lunar exploration task; determining navigation information of the execution body according to the perception information and the third navigation point sequence; wherein the task requirements include first starting point information, first target point information, a first starting time and a first target arrival time, and the plurality of initial spatio-temporal navigation points are determined according to the task requirements and the illumination information, comprising: obtaining an offline lunar map, the offline lunar map including first-level lunar terrain information; determining a plurality of first spatio-temporal navigation points that meet preset illumination conditions and first spatio-temporal resolution conditions on the offline lunar map according to the task requirements, the first-level lunar terrain information and the illumination information; wherein the perception information of the execution body is obtained, comprising: obtaining running constraint information of the execution body and lunar obstacle information within a perception range of the execution body; wherein the navigation information of the execution body is determined according to the perception information and the third navigation point sequence, comprising: calculating speed information and action information of the execution body under third spatio-temporal resolution conditions according to the running constraint information, the lunar obstacle information and the third navigation point sequence, the third spatio-temporal resolution conditions including a second-level time resolution and a decimeter-level spatial resolution.

2. The method of claim 1, wherein, The second navigation point sequence between the stage starting point and the stage target point is determined, comprising: obtaining second-level lunar terrain information, the second-level lunar terrain information including slope information and relief information; calculating a second navigation point sequence between the stage starting point and the stage target point that meets second spatio-temporal resolution conditions by using a path search algorithm according to the second-level lunar terrain information.

3. The method of claim 1, wherein, The perception range of the execution body includes a minute-level time resolution and a meter-level spatial resolution.

4. The method of claim 2, wherein, The first spatio-temporal resolution conditions include a hour-level time resolution and a hundred-meter-level spatial resolution.

5. The method of claim 2, wherein, The second spatio-temporal resolution conditions include a hour-level time resolution and a ten-meter-level spatial resolution.

6. A navigation planning apparatus for lunar exploration, characterized by, The device comprises: a task obtaining module configured to obtain task requirements and illumination information of a lunar exploration task; wherein the illumination information is time-varying illumination constraints determined by dynamic changes in illumination conditions caused by rotation and revolution of the moon; a first planning module configured to determine a plurality of first spatio-temporal navigation points according to the task requirements and the illumination information; a second planning module configured to determine a second navigation point sequence between a stage start point and a stage target point, the stage start point and the stage target point being adjacent two of the plurality of first spatio-temporal navigation points; a splicing module configured to splice a plurality of the second navigation point sequences to obtain a third navigation point sequence; a perception information obtaining module configured to obtain perception information of an executor, the executor being used to execute the lunar exploration task; a navigation determining module configured to determine navigation information of the executor according to the perception information and the third navigation point sequence; wherein the task requirement comprises first start point information, first target point information, a first start time and a first target arrival time, and the first planning module comprises: a map obtaining sub-module configured to obtain a lunar offline map, the lunar offline map comprising first-level lunar terrain information; a first planning sub-module configured to determine a plurality of first spatio-temporal navigation points meeting preset illumination conditions and first spatio-temporal resolution conditions on the lunar offline map according to the task requirement, the first-level lunar terrain information and the illumination information; wherein the perception information obtaining module comprises: a perception information obtaining sub-module configured to obtain running constraint information of the executor and lunar obstacle information within a perception range of the executor; wherein the navigation determining module comprises: a navigation determining sub-module configured to calculate speed information and action information of the executor under third spatio-temporal resolution conditions according to the running constraint information, the lunar obstacle information and the third navigation point sequence, the third spatio-temporal resolution conditions comprising a second-level time resolution and a decimeter-level space resolution.

7. An electronic device, comprising: A computer readable storage medium stores a computer program, the computer program being executed by a processor to implement the lunar exploration navigation planning method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, the computer program being executed by a processor to implement the lunar exploration navigation planning method according to any one of claims 1 to 5.

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