Split type lunar surface laser energy supply device and deployment method thereof
Through the split lunar laser power supply device, the combination of laser energy with transmission base station and movable laser emitter unit, combined with position control and coverage breadth model, the deployment accuracy and obstruction problems of lunar laser station are solved, and stable and efficient energy supply is achieved.
Patent Information
- Application Number
- CN202511089452.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-05
- Publication Date
- 2025-10-21
AI Technical Summary
In existing technologies, lunar laser stations have high deployment accuracy risks, are easily obstructed by local terrain, and cannot be manually adjusted and maintained, resulting in unstable energy supply and difficulty in effectively covering target receiving units in polar regions such as the South Pole of the Moon.
A split lunar laser energy supply device is used, including a laser energy and transmission base station and a movable laser emitter unit, which are connected by flexible cables. Combined with a position control unit and a laser energy effective coverage breadth model, adaptive deployment of laser emitters and laser link optimization are achieved.
It significantly improves the system's deployment robustness and adaptability in the complex lunar environment, ensures the stability and flexibility of energy supply, can provide power for a long time without human intervention, avoids line of sight obstructions, and improves the success rate and efficiency of the laser link.
Smart Images
Figure CN120824943A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the field of laser energy supply technology, and specifically relates to the field of energy deployment technology of a split-type lunar laser station. Background Art
[0002] As global lunar exploration missions deepen, establishing a long-term, reliable energy supply network on the lunar surface has become crucial for supporting future lunar research stations, resource extraction, and manned activities. Polar regions like the lunar South Pole, due to their unique permanently shadowed regions (PSRs), are believed to be rich in volatile resources such as water ice, making them attractive candidates for future bases. However, these PSRs also prevent direct access to solar energy, posing a significant challenge to the energy supply of target receiving units (TRUs) such as lunar rovers, drilling equipment, and stationary probes operating within them. Laser power beaming technology is considered an ideal solution to this problem. Its basic concept involves establishing a laser transmitter station on high ground with good lighting conditions (such as a crater ridge) to convert solar energy into a laser beam, which is then precisely directed to a target receiving unit (TRU) located within the shadowed region, providing power.
[0003] In existing technology, lunar laser stations are typically conceived as integrated, fixed units, with the solar array, energy management system, laser transmitter, and pointing mechanism all integrated into the same lander or fixed platform. This design has the following insurmountable drawbacks: High deployment accuracy risk: The autonomous landing process of a spacecraft has inherent positional deviations that can reach tens of meters or even higher. This can result in the entire laser station not being deployed at the pre-planned location, thus failing to effectively cover the target area.
[0004] Susceptible to local terrain obstruction: The lunar terrain is complex. Even if the laser station is well-located, some complex landforms near its landing site may block the long-distance laser line of sight (LOS) of several kilometers to tens of kilometers.
[0005] No manual adjustments or maintenance: Due to the harsh lunar environment, characterized by high temperature fluctuations and the inability to maintain real-time maintenance, the exploration equipment must operate autonomously from the moment it enters its designated location. All deployment operations, daily operations, energy supply maintenance, and even potential troubleshooting and repairs are handled independently by its own system, with no manual adjustments or maintenance required. While exploration equipment on Earth can rely on on-site maintenance and component replacement to ensure continuous operation, the extreme lunar environment makes manual intervention extremely difficult and nearly impossible. This requires the equipment to be able to adapt its deployment to the specific terrain and lighting conditions at the landing site to ensure a stable power supply for as long as possible. Furthermore, any power outage would affect the entire mission's line of sight, requiring the equipment to rely on its own power and line-of-sight mechanisms to ensure continuous mission execution. This places extremely high demands on the equipment's reliability. Summary of the Invention
[0006] In view of this, the present invention aims to propose a split-type lunar laser energy supply device and its deployment method to solve the technical problem in the existing technology that the energy transmission of integrated laser stations is affected by local terrain constraints.
[0007] To achieve the above object, the present invention adopts the following technical solutions: The present invention proposes a split-type lunar laser energy supply device, which includes: a laser energy and transmission base station LPTS, at least one mobile laser emitter unit LEU and at least one target receiving unit TRU; The laser energy source and transmission base station LPTS is connected to the mobile laser emitter unit LEU via a flexible cable; The laser energy and transmission base station LPTS is equipped with a solar panel, a power control unit, and a position control unit; the solar panel receives solar energy and converts it into electrical energy, which is distributed to each mobile laser emitter unit LEU as a working power source through the power control unit; The position control unit is equipped with a calculation module, which is equipped with a laser energy effective coverage breadth model, and is used to obtain terrain data of the local area within the range of movement of each mobile laser emitter unit LEU and terrain data of the mission detection area, and obtain the optimal laser link between each mobile laser emitter unit LEU and each target receiving unit TRU based on the terrain data, and is also used to determine the deployment point of each mobile laser emitter unit LEU based on the optimal laser link and the reference point of the laser energy source and the transmission base station LPTS position, and send the deployment point to the corresponding mobile laser emitter unit LEU; The mobile laser emitter unit LEU moves to the corresponding position according to the received deployment point, maintains the laser it emits to the target receiving unit TRU, establishes a laser link, and supplies energy to the target receiving unit TRU.
[0008] Furthermore, the length of each flexible cable is equal to the radius of the local area.
[0009] Furthermore, the mission detection area is the maximum range within which all target receiving units TRU can move.
[0010] Furthermore, the mobile laser emitter unit LEU is provided with a laser emitter and a precision pointing mechanism; the precision pointing mechanism is used to adjust the direction of the laser emitter to ensure that the laser emitted by the laser emitter can be received by the target receiving unit TRU and establish a laser link.
[0011] Furthermore, the target receiving unit TRU is provided with a laser energy converter for converting laser light into self-powered energy.
[0012] The present invention also proposes a method for deploying a split-type lunar laser energy supply device, the method comprising: S1. Deploy the laser energy source and the LPTS transmission base station at a location that can meet the energy requirements of the power control unit based on the solar irradiance of the mission detection area; S2. The solar panel receives solar energy and converts it into electrical energy, which is distributed to each of the mobile laser emitter units LEU as a working power source through the power control unit; S3. The position control unit is equipped with a calculation module equipped with a laser energy effective coverage breadth model, which is used to obtain terrain data of the local area within the movable range of each mobile laser emitter unit (LEU) and the terrain data of the mission detection area, and to obtain the optimal laser link between each mobile laser emitter unit (LEU) and each target receiving unit (TRU) based on the terrain data; S4. The laser energy effective coverage model determines the deployment location of each mobile laser transmitter unit (LEU) based on the optimal laser link, the laser energy source, and the reference point of the transmission base station (LPTS), and sends the deployment location to the corresponding mobile laser transmitter unit (LEU); S5. The mobile laser emitter unit LEU moves to the corresponding position according to the received deployment point, maintains the laser it emits to the target receiving unit TRU, establishes a laser link, and supplies energy to the target receiving unit TRU.
[0013] Furthermore, the local area in S1 is a circular range with the laser energy source and transmission base station LPTS as the center and a radius equal to the maximum distance that the mobile laser emitter unit LEU can move.
[0014] Furthermore, the laser energy effective coverage breadth model is obtained by the following method: S01 defines a single-objective optimization problem; setting a decision variable according to the number of mobile laser emitter units LEU, wherein the decision variable is a position adjustment offset; S02. Establish a laser energy effective coverage breadth model; Divide the task detection area into grid units, and calculate the total power received by the target receiving unit TRU in each grid unit based on the cumulative value of the received power when the multiple mobile laser emitter units LEU emit lasers; defining an effective coverage area of a preset energy reception threshold according to the total power received by the plurality of grid cells, and quantifying an effective laser link range according to a proportion of the plurality of grid cells occupying the mission detection area; S03. Constructing a regional connectivity index to evaluate the degree of spatial aggregation of the effective laser link range; S04. Construct a probabilistic proxy model of the objective function and use the Bayesian algorithm and acquisition function to determine the sampling points, and determine the global optimal solution within a set number of evaluations based on the sampling points. The global optimal solution is the optimal laser link between the mobile laser emitter unit LEU and the target receiving unit TRU; The deployment point position of the corresponding mobile laser emitter unit LEU is obtained according to the optimal laser link.
[0015] Furthermore, the regional connectivity index in S03 includes: regional unit area, number of regional units, preset energy receiving threshold, total regional area and indicator function.
[0016] Furthermore, the Bayesian algorithm described in S04 includes: S041. Initialize parameters; randomly select several points from the parameter space, evaluate the true value of the objective function at each point, and construct an initial dataset; S042. Model update; based on the current total data, fitting a Gaussian proxy model according to the probabilistic proxy model; S043. Acquisition decision; using the Bayesian algorithm to find the point that maximizes the acquisition function EI in the entire parameter space and determine the next sampling point; S044 observation evaluation; objective function evaluation is performed at the sampling point, the true function value is obtained, and new observation data is generated; the objective function is a weighted sum of the effective coverage area ratio and the regional connectivity ratio; S045. Data augmentation; adding the new observation data to the current data set to obtain an updated data set; S046. Optimization result: Return the sampling point with the maximum objective function value in the updated data set.
[0017] Compared with the prior art, the present invention has the following beneficial effects: (1) The split lunar laser energy supply device described in the present invention consists of a basically fixed laser energy and transmission base station LPTS for collecting solar energy and a physically separated movable laser emission unit LEU that can obtain electrical energy from the laser energy and transmission base station LPTS through a flexible cable. Through structural decoupling, the mobile laser emitter unit LEU can be deployed movably in a local area around the laser energy and transmission base station LPTS. Based on the terrain data collected by the position control unit and the optimal laser emission point provided by the laser energy effective coverage breadth model, an unobstructed area is selected as the deployment location. Even if there is an error in the initial landing point, effective compensation for the energy supply function can still be achieved. This feature significantly enhances the deployment robustness and adaptability of the system in complex lunar environments.
[0018] (2) The split lunar laser energy supply device described in the present invention adopts a split architecture, consisting of a laser energy and transmission base station LPTS and a movable laser emission unit LEU, which are connected by a flexible cable. A solar panel is set on the side of the laser energy and transmission base station LPTS to efficiently collect solar energy and convert it into electrical energy, which is then transmitted to the mobile laser emission unit LEU after management by the power control unit to ensure continuous and stable power supply. The mobile laser emission unit LEU is equipped with a laser emitter and a precision pointing mechanism, focusing on the directional emission and deployment optimization of the laser beam. This architecture allows the laser energy and transmission base station LPTS to focus on energy conversion efficiency, while the mobile laser emission unit LEU focuses on mobile deployment and laser link quality, achieving a system design with clear functional division of labor and high collaborative efficiency, and effectively improving the overall performance of the device. In terms of mission flexibility, the split design allows a single laser energy and transmission base station LPTS to support the free deployment of the mobile laser emission unit LEU through a flexible cable, so that it can provide time-sharing energy to target receiving units TRU in multiple directions and at different distances. Based on the location and terrain information of the target TRU, the mobile laser emitter unit (LEU) can freely move within the local area around the laser energy source and transmission base station (LPTS), selecting the optimal laser emission point to dynamically expand coverage. This approach not only meets the needs of different missions, but also greatly enhances the spatial flexibility and operational efficiency of single-mission configurations.
[0019] (3) In the split lunar laser power supply device described in the present invention, the stability of the laser power supply can adapt to the lunar environment without human intervention. The laser energy source and the transmission base station LPTS are separately deployed at a location that is suitable for the solar irradiance, and the power control unit is allocated to each mobile laser emitter unit LEU to ensure uninterrupted energy supply. This is consistent with the requirement that the equipment in the lunar environment must maintain its own energy supply, reducing the risk of failure due to energy problems and ensuring long-term power supply without human intervention. The laser power supply equipped with the position control unit has an effective coverage breadth model and can accurately process terrain data to determine the optimal deployment point for each LEU to avoid obstruction; the LEU moves to the specified position according to the control instruction, and adjusts the laser pointing with the precision pointing mechanism to ensure the stable establishment of the laser link with the target receiving unit TRU. This meets the need for the equipment to be deployed autonomously according to the location conditions, reduces failures caused by obstructed vision, and can adapt to the terrain without manual adjustment. Overall, the device can cope with the limitation of lunar equipment without human maintenance, and greatly improves the overall reliability of the device in the harsh environment of the moon without human intervention.
[0020] (4) The mobile laser emitter unit LEU described in the present invention can actively avoid natural lunar obstacles such as rocks and potholes near its initial point during the deployment phase to avoid local line of sight obstructions. It can dynamically adjust the direction of the laser emitter through a precise pointing mechanism to ensure that the laser beam transmission path is not obstructed. The deployment of the mobile laser emitter unit LEU depends on the relationship between the terrain information obtained by the position control unit and the position of the target receiving unit TRU. The effective laser link with the least obstacles is selected from multiple paths to maximize the smoothness of the laser line of sight. Since the mobile laser emitter unit LEU is physically separated from the laser energy source and the transmission base station LPTS and has high mobility, the system can make full use of the local visual area for scheduling, effectively avoid line of sight obstructions, and improve the success rate of energy transmission.
[0021] (5) The laser energy effective coverage breadth model described in the present invention takes the optimal deployment of mobile laser emitter units (LEU) as the goal, constructs a single-objective optimization problem based on a six-dimensional continuous variable space, and through gridding the detection area, combines the cumulative value of the received power with the energy reception threshold to quantify the effective laser link coverage range. On this basis, the model further introduces regional connectivity indicators to comprehensively evaluate the spatial aggregation of the effective coverage area. A probabilistic agent model is constructed through the Bayesian algorithm, and the acquisition function is used to guide the selection of sampling points. The global optimal deployment solution is sought within a limited number of evaluations to achieve the scientific construction of the laser link between the mobile laser emitter unit (LEU) and the target receiving unit (TRU). This model provides a theoretical basis for the deployment planning of the laser link in the present invention, significantly improving the energy supply coverage effect and deployment efficiency.
[0022] The split lunar laser energy supply device and its deployment method described in the present invention are applicable to the functional technology of detection equipment in lunar exploration technology, and are also applicable to the energy supply technology field of unmanned detection equipment in other areas with complex terrain. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the split lunar laser energy supply device described in the first specific embodiment.
[0024] Figure 2 This is a flow chart of the deployment method of the split-type lunar laser energy supply device described in specific implementation method six. DETAILED DESCRIPTION
[0025] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features therein can be combined with each other in the absence of conflict, and the embodiments described are only part of the embodiments of the present invention, not all of the embodiments.
[0026] Specific implementation method 1: the split lunar laser energy supply device described in this implementation method is as follows: Figure 1 As shown, the device comprises: a laser energy source and transmission base station LPTS1, at least one mobile laser emitter unit LEU2 and at least one target receiving unit TRU4; The laser energy source and transmission base station LPTS1 is connected to the mobile laser emitter unit LEU2 via a flexible cable 3; The laser energy and transmission base station LPTS1 is equipped with a solar panel 11, a power control unit 12, and a position control unit 13; the solar panel 11 receives solar energy and converts it into electrical energy, which is distributed to each mobile laser emitter unit LEU2 as a working power source through the power control unit 12; The position control unit 13 is equipped with a calculation module, which is equipped with a laser energy effective coverage breadth model, and is used to obtain the terrain data of the local area within the range of movement of each mobile laser emitter unit LEU2 and the terrain data of the mission detection area, and obtain the optimal laser link between each mobile laser emitter unit LEU2 and each target receiving unit TRU4 based on the terrain data, and is also used to determine the deployment point of each mobile laser emitter unit LEU2 based on the optimal laser link and the reference point of the laser energy source and the transmission base station LPTS1, and send the deployment point to the corresponding mobile laser emitter unit LEU2; The mobile laser emitter unit LEU2 moves to the corresponding position according to the received deployment point, maintains the laser it emits to the target receiving unit TRU4, establishes a laser link, and supplies energy to the target receiving unit TRU4.
[0027] In this embodiment, the split-type lunar laser energy supply device described in the present invention, wherein the split-type lunar laser energy supply device is composed of a laser energy and transmission base station LPTS and a movable laser emission unit LEU that can obtain electrical energy through a flexible cable, can be deployed. The mobile laser emitter unit LEU can move in the local area around the laser energy and transmission base station LPTS according to the terrain data and the position of the target receiving unit TRU to find the best unobstructed emission point. This split structure effectively compensates for landing errors and avoids line of sight obstructions by decoupling the energy module from the emission module, significantly improving the deployment robustness, flexibility, and success rate of the lunar laser energy supply mission. In conjunction with the laser energy effective coverage breadth model proposed in the present invention, the effective laser link range can be scientifically quantified according to the terrain characteristics and obstruction conditions of the detection area, and the optimal deployment point can be selected through an optimization algorithm to effectively improve the energy supply efficiency and laser link quality.
[0028] Specific embodiment 2: This embodiment further limits the flexible cables 3 in the split-type lunar laser energy supply device described in specific embodiment 1. The length of each flexible cable 3 is the radius of the local area.
[0029] This embodiment further defines the flexible cable 3 of the split-type lunar laser energy supply device described in Embodiment 1. In this embodiment, the length of the flexible cable 3 is designed to be 1.2 to 1.5 times the diameter of the detection area, ensuring that the mobile laser emitter unit (LEU) can be flexibly deployed over a wide range while maintaining an energy connection with the laser energy source and transmission base station (LPTS). This length ratio provides the mobile laser emitter unit (LEU) with sufficient operational freedom during deployment, enhancing the energy supply device's adaptability to irregular lunar terrain and changing target distribution, and effectively improving the flexibility and robustness of the energy supply link configuration.
[0030] Specific embodiment three: This embodiment further defines the mission detection area described in specific embodiment one. The mission detection area is the maximum range within which all target receiving units TRU4 can move.
[0031] This embodiment further limits the mission detection area described in Specific Implementation Method 1. The mission detection area is the maximum range within which all target receiving units TRU4 can move. By clearly constraining the boundaries of the mission detection area, laser link construction and optimization can be performed within the known activity range of the receiving units during deployment, which helps to achieve more stable laser power supply coverage in complex terrain.
[0032] Specific embodiment four: This embodiment further limits the mobile laser emitter unit LEU2 in the split lunar laser energy supply device described in specific embodiment one. The mobile laser emitter unit LEU2 is provided with a laser emitter 21 and a precision pointing mechanism 22; the precision pointing mechanism 22 is used to adjust the pointing direction of the laser emitter 21 to ensure that the laser emitted by the laser emitter 21 can be received by the target receiving unit TRU4 and establish a laser link.
[0033] This embodiment further defines the mobile laser emitter unit LEU2 of the split lunar laser energy supply device described in embodiment one. In this embodiment, by arranging a laser emitter 21 and a precision pointing mechanism 22 in the mobile laser emitter unit LEU2, the laser emitter 21 can flexibly adjust the emission direction at different deployment points to ensure that its laser can be accurately pointed to and received by the target receiving unit TRU4, thereby building a stable and reliable laser link. This technical feature is based on the structural decoupling advantage of the split architecture, so that the mobile laser emitter unit LEU2 can be flexibly deployed in the local area around the laser energy source and transmission base station LPTS1, and the terrain information obtained by the position control unit is combined to select the optimal emission point without obstruction, effectively avoiding the interference of lunar obstructions on the laser link, and improving the reliability and success rate of laser link construction. At the same time, the dynamic control capability of the precision pointing mechanism 22 enables the link deviation to be compensated by fine adjustment of the emission direction even if there is a slight error in the deployment position, thereby enhancing the system's adaptability to complex lunar terrain changes.
[0034] Specific embodiment five: This embodiment further limits the target receiving unit TRU4 in the split lunar laser energy supply device described in specific embodiment one. The target receiving unit TRU4 is provided with a laser energy converter 41 that converts laser light into self-powered energy.
[0035] This embodiment further limits the target receiving unit TRU4 of the split lunar laser power supply device described in embodiment one. In this embodiment, the target receiving unit TRU is provided with a laser energy converter 41, which can efficiently convert the received laser energy into self-supplied electrical energy, forming a complete laser energy receiving and conversion closed loop, and providing stable self-power supply capability for the task execution unit.
[0036] Specific implementation method six, see Figure 2 This embodiment describes a method for deploying a split-type lunar laser energy supply device, the method comprising: S1. According to the solar irradiance rate of the mission detection area, the laser energy and transmission base station LPTS1 are deployed in a position that can meet the energy requirements of the power control unit 12; S2. The solar panel 11 receives solar energy and converts it into electrical energy, which is distributed to each of the mobile laser emitter units LEU2 as a working power source via the power control unit 12; S3. The position control unit 13 is equipped with a calculation module equipped with a laser energy effective coverage breadth model, which is used to obtain terrain data of the local area within the range of movement of each mobile laser emitter unit LEU2 and terrain data of the mission detection area, and based on the terrain data, obtain the optimal laser link between each mobile laser emitter unit LEU2 and each target receiving unit TRU4; S4. The laser energy effective coverage model determines the deployment location of each mobile laser emitter unit LEU2 based on the optimal laser link, the laser energy source, and the reference point of the transmission base station LPTS1, and sends the deployment location to the corresponding mobile laser emitter unit LEU2; S5. The mobile laser emitter unit LEU2 moves to the corresponding position according to the received deployment point, maintains the laser it emits to the target receiving unit TRU4, establishes a laser link, and supplies energy to the target receiving unit TRU4.
[0037] In this implementation, by analyzing the solar irradiance of the detection area, the laser energy source and transmission base station LPTS1 are deployed in the optimal location to meet the energy supply requirements of the power control unit 12, ensuring that the device obtains the maximum available solar resources, thereby improving the stability and efficiency of the energy supply side and providing sufficient power for laser transmission. At the same time, based on the solar irradiance and terrain data, the deployment points of the mobile laser transmitter unit LEU and the target receiving unit TRU are optimized to establish an efficient laser link. Each deployment can achieve path optimization and optimal resource allocation based on terrain characteristics and energy supply and demand, significantly improving the deployment success rate and laser power supply efficiency.
[0038] Specific embodiment seven, this embodiment is a further limitation of the local area described in the deployment method S1 of the split-type lunar laser energy supply device described in specific embodiment six, wherein the local area is a circular range centered on the laser energy source and transmission base station LPTS1 and having a radius equal to the maximum distance that the mobile laser emitter unit LEU2 can move.
[0039] This embodiment further limits the local area of the deployment method S2 of the split lunar laser energy supply device described in specific embodiment six. In this embodiment, the deployment area is used to clarify the deployment activity boundary of the mobile laser emitter unit LEU2. The range setting is based on the actual maneuverability of the device and the flexible cable layout limitations, ensuring that the mobile laser emitter unit LEU2 can improve the spatial margin of the laser link without structural interference or excessive traction, so as to support the energy supply range of the device, and help to achieve reliable establishment of the laser link and stable power supply under various terrain conditions.
[0040] Specific embodiment eight, this embodiment further defines the laser energy effective coverage width model described in the deployment method of the split lunar laser energy supply device described in specific embodiment six. The laser energy effective coverage width model is obtained by the following method: S01 defines a single-objective optimization problem; setting a decision variable according to the number of mobile laser emitter units LEU2, wherein the decision variable is a position adjustment offset; S02. Establish a laser energy effective coverage breadth model; Divide the task detection area into grid units, and calculate the total power received by the target receiving unit TRU4 in each grid unit based on the cumulative value of the received power when the multiple mobile laser emitter units LEU2 emit lasers; defining an effective coverage area of a preset energy reception threshold according to the total power received by the plurality of grid cells, and quantifying an effective laser link range according to a proportion of the plurality of grid cells occupying the mission detection area; S03. Constructing a regional connectivity index to evaluate the degree of spatial aggregation of the effective laser link range; S04. Construct a probabilistic proxy model of the objective function and use the Bayesian algorithm and acquisition function to determine the sampling points, and determine the global optimal solution within the set number of evaluations based on the sampling points. The global optimal solution is the optimal laser link between the mobile laser transmitter unit LEU2 and the target receiving unit TRU4; The deployment point position of the corresponding mobile laser emitter unit LEU2 is obtained according to the optimal laser link.
[0041] This embodiment further defines the laser energy effective coverage model of the deployment method of the split lunar laser energy supply device described in the sixth embodiment. In this embodiment, the complex deployment problem is first converted into a clearly defined single-objective optimization problem. The decision variables of the laser energy source and the transmission base station LPTS are the position adjustment offsets of the mobile laser emitter units LEUs they each power. If deployed in different areas set of devices, then the optimization problem has a dimensional continuous variable space: (1) For any given vector , No. Three-dimensional Cartesian coordinates of a mobile laser emitter unit LEU It can be expressed as follows: (2) in, It is The reference coordinates of the laser energy source and the transmission base station LPTS, Terrain elevation generated for LOLA data, It is the fixed height of the mobile laser emitter unit LEU carrying platform, that is, the lunar rover.
[0042] In order to use the Bayesian optimization algorithm, it is necessary to combine multiple performance indicators into a scalar target. We define a comprehensive performance score As the objective function of optimization. This function is the weighted sum of the effective coverage area ratio and the regional connectivity ratio: (3) in, and are the weights of the effective coverage area and regional connectivity ratio of the task detection area, and The laser emitter unit LEU is moved to adjust the position to The ratio of the effective coverage area of the local area to the effective terrain area and the ratio of the maximum connected component area to the effective coverage area.
[0043] The effective coverage area index is used to quantify the breadth of the effective energy coverage area provided by the laser energy network.
[0044] The formula for the total received link power is:
[0045] in, Indicates the transmit power, is the received power, is the energy harvesting efficiency, is the laser conversion efficiency, is the pointing loss factor at the transmitter, The directivity loss factor at the receiving end, is the gain of the transmitting antenna, is the gain of the receiving antenna, is the lunar dust loss factor on the laser link, is the receiver radial error angle, is the pointing error angle of the transmitted beam.
[0046] First, for any grid cell in the task detection area , according to the total link received power accumulation, calculate the total power that can be received by all NS mobile laser transmitter units LEU when emitting lasers as follows: (4) in, , Indicates the Mobile laser emitter units LEU and grid units The view occlusion between (5) therefore, The defined ratio of the effective coverage area to the total area of the mission detection area can be expressed as: (6) in, is the area of the regional unit, is the number of regional units, is the preset energy receiving threshold, is the total area of the detection area.
[0047] The degree of spatial aggregation of effective coverage areas is evaluated through regional connectivity indicators. The calculation process is based on the connected component analysis in graph theory. Based on the effective coverage points, a binary effective coverage map can be generated. , where the effectively covered grid cells are 1 and the ineffectively covered grid cells are 0. According to the connected component analysis, all the continuously covered grid cells are identified. , by comparing the largest connected component (LCC) and finally calculating the connectivity ratio as follows: (7) in, represents the largest connected component in the coverage map, To calculate the area of the region.
[0048] Bayesian optimization constructs a probabilistic proxy model of the objective function and uses the acquisition function to intelligently determine the next sampling point, thereby finding the global optimal solution within a small number of evaluations.
[0049] Probabilistic surrogate model: using GP as GP models the objective function as a set of random functions that satisfy the Gaussian distribution. It is composed of the mean function and covariance function Definition. The advantage of GP is that for any unknown input point , which not only predicts the mean of the target function, but also gives the uncertainty of the prediction. The Gaussian process can be expressed as follows: (8) Given a set of evaluated data points , the posterior distribution of GP can be calculated analytically, thus obtaining The predicted mean and variance .
[0050] Acquisition function: The role of the acquisition function is to guide where to evaluate the true function in the next step. The widely used EI function is used. EI is calculated at point The expected improvement in function value that can be achieved by sampling is assuming that the currently found best function value is , then the EI formula is: (9) in, and For GP at the point The predicted mean and standard deviation of and is the cumulative distribution function and probability density function of the standard normal distribution, To balance the parameters. During the optimization process, the Bayesian algorithm will search for the point that maximizes EI in the entire parameter space as the next observation point: (10) This implementation method achieves intelligent optimization deployment of the optimal laser link between the mobile laser emitter units LEU and TRU by establishing a single-objective optimization problem, dividing the task detection area into grid units, calculating the received power and defining the effective coverage area, constructing a regional connectivity indicator, building a probabilistic agent model and using the Bayesian algorithm to search for the optimal solution, thereby enhancing the spatial coverage capability and deployment effect of the laser power supply task.
[0051] Specific embodiment nine, this embodiment further limits S03 in the deployment method of the split-type lunar laser energy supply device described in specific embodiment eight, and the indicators described in S03 include: regional unit area, number of regional units, preset energy receiving threshold, total regional area and indicator function.
[0052] This embodiment further limits the regional connectivity index described in S03 of the deployment method of the split lunar laser energy supply device described in specific embodiment eight. In this embodiment, by establishing a regional connectivity index, the effectiveness and connectivity of the laser link under different deployment configurations are quantified.
[0053] Specific embodiment 10. This embodiment further defines the Bayesian algorithm described in S04 of specific embodiment 8. The Bayesian algorithm described in S04 includes: S041. Initialize parameters; randomly select several points from the parameter space, evaluate the true value of the objective function at each point, and construct an initial dataset; S042. Model update; based on the current total data, fitting a Gaussian proxy model according to the probabilistic proxy model; S043. Acquisition decision; using the Bayesian algorithm to find the point that maximizes the acquisition function EI in the entire parameter space and determine the next sampling point; S044 observation evaluation; objective function evaluation is performed at the sampling point, the true function value is obtained, and new observation data is generated; the objective function is a weighted sum of the effective coverage area ratio and the regional connectivity ratio; S045. Data augmentation; adding the new observation data to the current data set to obtain an updated data set; S046. Optimization result: Return the sampling point with the maximum objective function value in the updated data set.
[0054] This embodiment further defines the Bayesian algorithm described in the deployment method S04 of the split-type lunar laser energy supply device described in the eighth embodiment. In this embodiment, the Bayesian optimization algorithm includes: Initialization: Randomly select from the parameter space point, assess its true Values, forming the initial data set
[0055] Iterative process: (T is the total assessment budget) Model update: based on all current data , fitting the Gaussian surrogate model according to (17); Acquisition decision: Find the next best sampling point in the entire parameter space by maximizing the EI acquisition function (19) ; Observation evaluation: Run the evaluation function (12) to get new data ; Data augmentation: New data Add the dataset and get .
[0056] Optimization result: Return the maximum value among all evaluation points point, get the optimal solution .
[0057] The laser energy effective coverage breadth model is combined with the Bayesian algorithm, through the orderly iteration of initialization parameters, model update, acquisition decision, observation evaluation, data augmentation and optimization results. The efficient global optimization of the laser link between the mobile laser emitter unit LEU and the target receiving unit TRU is realized in the space of 3D continuous variables. This method uses the constructed probabilistic proxy model to reduce the number of real evaluations of the objective function, and dynamically balances the exploration and utilization through the acquisition function EI, effectively improving the optimization efficiency. Based on the grid modeling of the detection area, the effective coverage area ratio and the regional connectivity index are constructed as the objective function, realizing the coordinated optimization of the laser link in terms of spatial range and power distribution. This method can quickly converge to the optimal link configuration with high deployment accuracy and less occlusion under limited computing resources. It is particularly suitable for scenarios with limited deployment conditions and prominent laser power supply path planning requirements in lunar missions, ensuring the global optimal performance of the device power supply link under variable terrain and mission requirements.
Claims
1. Split-type lunar laser energy supply device, characterized in that: The device comprises: a laser energy source and transmission base station LPTS (1), at least one mobile laser emitter unit LEU (2) and at least one target receiving unit TRU (4); The laser energy source and transmission base station LPTS (1) is connected to the mobile laser emitter unit LEU (2) via a flexible cable (3); The laser energy and transmission base station LPTS (1) is provided with a solar panel (11), a power control unit (12), and a position control unit (13); the solar panel (11) receives solar energy and converts it into electrical energy, and the electrical energy is distributed to each of the mobile laser emitter units LEU (2) as a working power source through the power control unit (12); The position control unit (13) is equipped with a calculation module, which is equipped with a laser energy effective coverage breadth model, and is used to obtain terrain data of a local area within the range of movement of each mobile laser emitter unit LEU (2) and terrain data of a mission detection area, and obtain an optimal laser link between each mobile laser emitter unit LEU (2) and each target receiving unit TRU (4) based on the terrain data, and is also used to determine the deployment point of each mobile laser emitter unit LEU (2) based on the optimal laser link and the position of the laser energy source and the transmission base station LPTS (1) as a reference point, and send the deployment point to the corresponding mobile laser emitter unit LEU (2); The mobile laser emitter unit LEU (2) moves to a corresponding position according to the received deployment point, maintains the laser it emits to the target receiving unit TRU (4), establishes a laser link, and realizes power supply to the target receiving unit TRU (4).
2. The split lunar laser energy supply device according to claim 1, characterized in that: The length of each flexible cable (3) is the radius of the local area.
3. The split lunar laser energy supply device according to claim 1, characterized in that: The mission detection area is the maximum range within which all target receiving units TRU (4) can move.
4. The split lunar laser energy supply device according to claim 1, characterized in that: The mobile laser emitter unit LEU (2) is provided with a laser emitter (21) and a precision pointing mechanism (22); the precision pointing mechanism (22) is used to adjust the direction of the laser emitter (21) to ensure that the laser emitted by the laser emitter (21) can be received by a target receiving unit TRU (4) and a laser link is established.
5. The split lunar laser energy supply device according to claim 1, characterized in that: The target receiving unit TRU (4) is provided with a laser energy converter (41) for converting laser light into self-powered energy.
6. A method for deploying a split-type lunar laser energy supply device, characterized in that: The method comprises: S1. According to the solar irradiance of the mission detection area, the laser energy and the transmission base station LPTS (1) are deployed at a position that can meet the energy requirements of the power control unit (12); S2. The solar panel (11) receives solar energy and converts it into electrical energy, which is distributed to each of the mobile laser emitter units LEU (2) as a working power source through the power control unit (12); S3. The position control unit (13) is equipped with a calculation module, which is equipped with a laser energy effective coverage breadth model, for obtaining terrain data of a local area within the range of movement of each mobile laser emitter unit LEU (2) and terrain data of a mission detection area, and obtaining an optimal laser link between each mobile laser emitter unit LEU (2) and each target receiving unit TRU (4) based on the terrain data; S4. The laser energy effective coverage breadth model determines the deployment point of each mobile laser transmitter unit LEU (2) based on the optimal laser link and the reference point of the laser energy source and the position of the transmission base station LPTS (1), and sends the deployment point to the corresponding mobile laser transmitter unit LEU (2); S5. The mobile laser emitter unit LEU (2) moves to a corresponding position according to the received deployment point, maintains the laser it emits to the target receiving unit TRU (4), establishes a laser link, and realizes power supply to the target receiving unit TRU (4).
7. The method for deploying a split-type lunar laser energy supply device according to claim 6, characterized in that: The local area in S1 is a circular range with the laser energy source and transmission base station LPTS (1) as the center and a radius equal to the maximum distance that the mobile laser emitter unit LEU (2) can move.
8. The method for deploying a split-type lunar laser energy supply device according to claim 6, characterized in that: The laser energy effective coverage breadth model is obtained by the following method: S01. Define a single-objective optimization problem; set a decision variable according to the number of mobile laser emitter units LEU (2), wherein the decision variable is a position adjustment offset; S02. Establish a laser energy effective coverage breadth model; Dividing the task detection area into grid units, and calculating the total power received by the target receiving unit TRU (4) located in each grid unit based on the cumulative value of the received power when the plurality of mobile laser emitter units LEU (2) emit lasers; defining an effective coverage area of a preset energy reception threshold according to the total power received by the plurality of grid cells, and quantifying an effective laser link range according to a proportion of the plurality of grid cells occupying the mission detection area; S03. Constructing a regional connectivity index to evaluate the degree of spatial aggregation of the effective laser link range; S04. Constructing a probabilistic proxy model of the objective function and determining sampling points using a Bayesian algorithm and an acquisition function, determining a global optimal solution within a set number of evaluations based on the sampling points, the global optimal solution being the optimal laser link between the mobile laser emitter unit LEU (2) and the target receiving unit TRU (4); The deployment point of the corresponding mobile laser emitter unit LEU (2) is obtained according to the optimal laser link.
9. The method for deploying the split-type lunar laser energy supply device according to claim 8, characterized in that: The regional connectivity index in S03 includes: regional unit area, number of regional units, preset energy receiving threshold, total regional area and indicator function.
10. The method for deploying a split-type lunar laser energy supply device according to claim 8, characterized in that: The Bayesian algorithm described in S04 includes: S041. Initialize parameters; randomly select several points from the parameter space, evaluate the true value of the objective function at each point, and construct an initial dataset; S042. Model update; based on the current total data, fitting a Gaussian proxy model according to the probabilistic proxy model; S043. Acquisition decision; using the Bayesian algorithm to find the point that maximizes the acquisition function EI in the entire parameter space and determine the next sampling point; S044 observation evaluation; objective function evaluation is performed at the sampling point, the true function value is obtained, and new observation data is generated; the objective function is a weighted sum of the effective coverage area ratio and the regional connectivity ratio; S045. Data augmentation; adding the new observation data to the current data set to obtain an updated data set; S046. Optimization result: Return the sampling point with the maximum objective function value in the updated data set.