Cooperative solution method and device for dormancy awakening area of lunar rover

Abstract

The invention provides a collaborative solving method and device for a lunar rover dormancy awakening area, and relates to the technical field of spaceflight measurement and control. The method comprises the following steps: determining a backtracking time window and an extended time window; acquiring illumination historical state parameters in the illumination forecast file in the backtracking time window, and resolving the illumination historical state parameters to obtain an illumination suitable dormancy area; acquiring illumination forecast data in the illumination forecast file in the extended time window, and resolving the illumination forecast data to obtain an illumination appropriate wake-up area; and performing parameter fusion according to the illumination suitable dormancy area and the illumination suitable wake-up area to obtain a composite security layer, and performing cooperative solution on the dormancy wake-up area of the lunar rover according to the composite security layer and a terrain suitable area obtained in advance. The device executes the method. According to the method and the device provided by the embodiment of the invention, the global patrol detection capability is improved.

Description

Technical Field

[0001] This invention relates to the field of aerospace telemetry and control technology, specifically to a collaborative solution method and device for the hibernation and wake-up zone of a lunar rover. Background Technology

[0002] Lunar exploration has always occupied a central position in deep space exploration. It serves as both a scientific laboratory for revealing the evolutionary mechanisms of the Earth-Moon system and an extreme testing ground for verifying deep space survival technologies. As the closest extraterrestrial body to Earth, the composition of the lunar regolith, the distribution of water ice in permanently shadowed areas, and data on lunar seismic activity constitute key insights into the formation and evolution of terrestrial planets. Lunar rovers, as the core carrier for mobile exploration of the planetary surface, have overcome the limitations of fixed landers in terms of space coverage and dynamic observation. They support key tasks such as lunar regolith analysis, in-situ water ice detection, and exploration of permanently shadowed areas, becoming a pioneering technological system for lunar resource development and utilization and the selection of manned base sites.

[0003] Determining the hibernation / awakening region for the lunar rover is a core technical aspect of ensuring the continuous achievement of scientific objectives and the safe operation of equipment during mobile exploration missions. The lunar surface experiences extreme temperature differences between day and night (-180℃ to 120℃). During the lunar night, the disappearance of solar radiation leads to an interruption of solar power supply, forcing the rover to enter hibernation mode to shut down unnecessary payloads and activate isotope heat sources to maintain basic temperature control. The selection of the hibernation region must meet conditions such as terrain flatness and periodic sunlight. The awakening region, on the other hand, must ensure that the solar panels receive sufficient sunlight angles to restore power when the lunar day arrives. By accurately calculating the relationship between the solar altitude angle and terrain shading, the optimal awakening time and path for resuming exploration operations under limited energy conditions is planned. The scientific planning of the hibernation / awakening region directly affects the survival probability of equipment in complex environments. Through 3D modeling of the lunar surface terrain and illumination simulation, the rover successfully set its hibernation point in a sunlit, gently sloping area, achieving dozens of lunar night survival and autonomous awakenings. In addition, this technology also supports the acquisition of long-term scientific data for exploration missions. Through the periodic hibernation and wake-up mechanism, the lunar rover can carry out a combination of fixed-point exploration and mobile exploration at different locations on the lunar surface, expanding the spatial coverage of sampling and analysis.

[0004] Lunar south pole exploration is currently the most valuable and challenging area of ​​lunar exploration, with its core objective being to reveal the distribution of water ice resources in permanently shadowed regions and the evolutionary secrets of the Earth and Moon under complex environments. These explorations not only drive innovation in mobile exploration technologies for complex environments but also lay the material and cognitive foundation for establishing a sustainable lunar base. Solving for the dormant / awakening regions in the lunar south pole is one of the most challenging technical bottlenecks in lunar rover engineering. Its core difficulty stems from the multiple coupling constraints created by the complex lighting environment and topography of the region, coupled with the high reliability requirements of the exploration mission. The region experiences persistently low solar altitude angles and rapid periodic changes in azimuth angles, compounded by the shading effects of impact craters, ridges, and other micro-topographical features, forming a dynamic shadow network that fluctuates dramatically over time. This dynamic characteristic renders traditional instantaneous dormant / awakening region solving methods based on Digital Elevation Models (DEMs) ineffective because they cannot characterize time-varying lighting boundaries.

[0005] The solution for the hibernation / awakening region is a core technology ensuring the energy security and mission continuity of the lunar rover. Its optimization level directly determines the rover's survival probability and scientific output efficiency under complex lunar illumination environments. In such environments, the solution for the hibernation / awakening region must simultaneously address multiple challenges, including terrain variations and dynamic changes in illumination conditions. Traditional methods based on digital elevation models (DEMs) and "instantaneous snapshot" illumination analysis can meet basic requirements for missions in low-to-mid latitude lunar regions, but their limitations become apparent when the target shifts to the South Pole region, where illumination conditions fluctuate dramatically. Summary of the Invention

[0006] To address the problems in the prior art, embodiments of the present invention provide a collaborative solution method and apparatus for the hibernation and wake-up region of a lunar rover, which can at least partially solve the problems existing in the prior art.

[0007] On the one hand, this invention proposes a collaborative solution method for the lunar rover's hibernation / wake-up region, including:

[0008] The response is to set reverse time increment parameters and forward time increment parameters according to the illumination forecast file, determine the backtracking time window according to the reverse time increment parameters and the lunar rover's hibernation time, and determine the extended time window according to the forward time increment parameters and the lunar rover's wake-up time.

[0009] Obtain the historical illumination state parameters in the illumination forecast file within the retrospective time window, and calculate the historical illumination state parameters to obtain the suitable illumination dormancy zone; obtain the illumination forecast data in the illumination forecast file within the extended time window, and calculate the illumination forecast data to obtain the suitable illumination wake-up zone.

[0010] The parameters of the suitable hibernation zone and the suitable wake-up zone are fused to obtain a composite safety layer. The hibernation and wake-up zone of the lunar rover is then solved collaboratively based on the composite safety layer and the pre-acquired suitable terrain zone.

[0011] The setting of reverse time increment parameters and forward time increment parameters includes:

[0012] The reverse time increment parameter and the forward time increment parameter are set based on the default settings or manual settings.

[0013] The step of determining the backtracking time window based on the reverse time increment parameter and the lunar rover's hibernation time includes:

[0014] The difference between the lunar rover's hibernation time and the reverse time increment parameter is used as the endpoint value of the backtracking time window, and the duration between the endpoint value of the backtracking time window and the lunar rover's hibernation time is determined as the backtracking time window.

[0015] The step of determining the extended time window based on the positive time increment parameter and the lunar rover's wake-up time includes:

[0016] The sum of the lunar rover's wake-up time and the positive time increment parameter is used as the endpoint value of the extended time window, and the duration between the lunar rover's wake-up time and the endpoint value of the extended time window is determined as the extended time window.

[0017] The step of fusing parameters based on the suitable lighting sleep zone and the suitable lighting wake-up zone to obtain a composite security layer includes:

[0018] The historical illumination stability parameters of the dormant area in the suitable illumination dormant area are rasterized and superimposed with the future illumination guarantee rate parameters of the awakening area in the suitable illumination awakening area to obtain the composite security layer.

[0019] The step of collaboratively solving for the lunar rover's hibernation / awakening zone based on the composite safety layer and pre-acquired suitable terrain areas includes:

[0020] By performing intersection and union operations on the composite safety layer and the terrain-suitable area, the collaborative solution result of the lunar rover's hibernation and wake-up area is obtained.

[0021] On one hand, this invention proposes a collaborative solution device for the lunar rover's hibernation / wake-up region, comprising:

[0022] The determining unit is used to respond to the action of setting reverse time increment parameters and forward time increment parameters according to the illumination forecast file, determining the backtracking time window according to the reverse time increment parameters and the lunar rover's hibernation time, and determining the extended time window according to the forward time increment parameters and the lunar rover's wake-up time.

[0023] The acquisition unit is used to acquire historical illumination state parameters in the illumination forecast file within the retrospective time window, calculate the historical illumination state parameters to obtain a suitable illumination dormancy zone; and acquire illumination forecast data in the illumination forecast file within the extended time window, calculate the illumination forecast data to obtain a suitable illumination wake-up zone.

[0024] The solving unit is used to fuse parameters based on the suitable illumination hibernation zone and the suitable illumination wake-up zone to obtain a composite safety layer, and to collaboratively solve the hibernation and wake-up zone of the lunar rover based on the composite safety layer and the pre-acquired suitable terrain zone.

[0025] In another aspect, embodiments of the present invention provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the following method:

[0026] The response is to set reverse time increment parameters and forward time increment parameters according to the illumination forecast file, determine the backtracking time window according to the reverse time increment parameters and the lunar rover's hibernation time, and determine the extended time window according to the forward time increment parameters and the lunar rover's wake-up time.

[0027] Obtain the historical illumination state parameters in the illumination forecast file within the retrospective time window, and calculate the historical illumination state parameters to obtain the suitable illumination dormancy zone; obtain the illumination forecast data in the illumination forecast file within the extended time window, and calculate the illumination forecast data to obtain the suitable illumination wake-up zone.

[0028] The parameters of the suitable hibernation zone and the suitable wake-up zone are fused to obtain a composite safety layer. The hibernation and wake-up zone of the lunar rover is then solved collaboratively based on the composite safety layer and the pre-acquired suitable terrain zone.

[0029] This invention provides a computer-readable storage medium, comprising:

[0030] The computer-readable storage medium stores a computer program that, when executed by a processor, implements the following method:

[0031] The response is to set reverse time increment parameters and forward time increment parameters according to the illumination forecast file, determine the backtracking time window according to the reverse time increment parameters and the lunar rover's hibernation time, and determine the extended time window according to the forward time increment parameters and the lunar rover's wake-up time.

[0032] Obtain the historical illumination state parameters in the illumination forecast file within the retrospective time window, and calculate the historical illumination state parameters to obtain the suitable illumination dormancy zone; obtain the illumination forecast data in the illumination forecast file within the extended time window, and calculate the illumination forecast data to obtain the suitable illumination wake-up zone.

[0033] The parameters of the suitable hibernation zone and the suitable wake-up zone are fused to obtain a composite safety layer. The hibernation and wake-up zone of the lunar rover is then solved collaboratively based on the composite safety layer and the pre-acquired suitable terrain zone.

[0034] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the following method:

[0035] The response is to set reverse time increment parameters and forward time increment parameters according to the illumination forecast file, determine the backtracking time window according to the reverse time increment parameters and the lunar rover's hibernation time, and determine the extended time window according to the forward time increment parameters and the lunar rover's wake-up time.

[0036] Obtain the historical illumination state parameters in the illumination forecast file within the retrospective time window, and calculate the historical illumination state parameters to obtain the suitable illumination dormancy zone; obtain the illumination forecast data in the illumination forecast file within the extended time window, and calculate the illumination forecast data to obtain the suitable illumination wake-up zone.

[0037] The parameters of the suitable hibernation zone and the suitable wake-up zone are fused to obtain a composite safety layer. The hibernation and wake-up zone of the lunar rover is then solved collaboratively based on the composite safety layer and the pre-acquired suitable terrain zone.

[0038] The collaborative solution method and apparatus for the lunar rover's hibernation / awakening zone provided in this invention responds to the action of setting reverse time increment parameters and forward time increment parameters according to the illumination forecast file. It determines a backtracking time window based on the reverse time increment parameters and the lunar rover's hibernation time, and an extended time window based on the forward time increment parameters and the lunar rover's awakening time. It acquires the historical illumination state parameters from the illumination forecast file within the backtracking time window, calculates the historical illumination state parameters to obtain a suitable illumination hibernation zone. It acquires the illumination forecast data from the illumination forecast file within the extended time window, calculates the illumination forecast data to obtain a suitable illumination awakening zone. It fuses the parameters of the suitable illumination hibernation zone and the suitable illumination awakening zone to obtain a composite safety layer. It then collaboratively solves the lunar rover's hibernation / awakening zone based on the composite safety layer and a pre-acquired terrain-suitable zone. This achieves a technological breakthrough in dynamic illumination condition adaptation and multi-constraint collaborative optimization for long-term exploration missions under complex illumination environments, significantly improving the lunar rover's full-domain exploration capability in complex terrain, dynamic illumination, and large-scale unknown areas. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0040] Figure 1 This is a flowchart illustrating a collaborative solution method for the lunar rover's hibernation / wake-up region provided in an embodiment of the present invention.

[0041] Figure 2 This is a flowchart illustrating a collaborative solution method for the lunar rover's hibernation / wake-up region provided in another embodiment of the present invention.

[0042] Figure 3 This is a flowchart illustrating a collaborative solution method for the lunar rover's hibernation / wake-up region provided in another embodiment of the present invention.

[0043] Figure 4 This is a flowchart illustrating a collaborative solution method for the lunar rover's hibernation / wake-up region provided in another embodiment of the present invention.

[0044] Figure 5 This is a flowchart illustrating a collaborative solution method for the lunar rover's hibernation / wake-up region provided in another embodiment of the present invention.

[0045] Figure 6 This is a schematic diagram of the structure of a collaborative solution device for the hibernation and wake-up region of a lunar rover provided in an embodiment of the present invention.

[0046] Figure 7 This is a schematic diagram of the physical structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0048] Solving the hibernation / awakening zone is a core technology ensuring the energy security and mission continuity of the lunar rover. Its optimization level directly determines the rover's survival probability and scientific output efficiency under complex lunar illumination conditions. In such environments, solving the hibernation / awakening zone must simultaneously address multiple challenges, including terrain and dynamic changes in illumination conditions. Traditional methods based on digital elevation models (DEMs) and "instantaneous snapshot" illumination analysis can meet basic requirements for missions in low and mid-latitude lunar regions, but their limitations become apparent when the target shifts to the South Pole region with its drastically fluctuating illumination conditions. For example... Figure 1 As shown, the specific explanation is as follows.

[0049] The first step is to calculate the slope, aspect, and roughness of each point on the lunar surface based on the digital elevation map (DEM).

[0050] The second step is to determine the areas where the terrain conditions meet the requirements, based on the heading and attitude requirements when the lunar rover is awakened, as well as the slope, aspect, and roughness of each point.

[0051] The third step is to combine the illumination forecast file to calculate the area with illumination at the wake-up time.

[0052] The fourth step is to combine the calculation results from the second and third steps, and take the intersection of the two as the solution for the sleep / wake region.

[0053] Problem Analysis: The planning method for the lunar rover's hibernation / wake-up zone is of crucial value in deep space exploration missions. However, traditional solution methods exhibit significant systemic flaws when dealing with the complex, time-varying environment of the lunar south pole. The fundamental problem lies in the spatiotemporal decoupling modeling framework and the discretized constraint processing logic: while simplifying the continuous spatiotemporal dimension into discrete time slices for static analysis reduces computational complexity, it leads to a severe loss of the model's physical realism.

[0054] Specifically, traditional methods focus on assessing illumination conditions using isolated time slices at the wake-up moment. This "instantaneous snapshot" modeling approach has the following drawbacks: First, it ignores the cumulative effect of the preceding photothermal environment during the hibernation phase: the hibernation decision-making process at the end of the lunar day does not consider the constraints of changes in illumination conditions around the hibernation point on the hibernation zone. Second, traditional methods lack the ability to dynamically extrapolate the entire mission cycle, and lack forward-looking modeling of important constraints such as continuous energy supply after wake-up, subsequent mission requirements, and emergency response plans. Such modeling errors may be within tolerance under normal operating conditions, but in the special environment of the lunar south pole with drastic illumination fluctuations, they will trigger catastrophic error accumulation effects. This rigid planning scheme is highly susceptible to causing the global mission chain to break if it encounters unexpected operating conditions.

[0055] Figure 2 This is a flowchart illustrating a collaborative solution method for the lunar rover's hibernation / wake-up region according to an embodiment of the present invention, as shown below. Figure 2 As shown, the collaborative solution method for the lunar rover's hibernation / wake-up region provided in this embodiment of the invention includes:

[0056] Step S1: Response to the action of setting reverse time increment parameters and forward time increment parameters according to the illumination forecast file, determine the backtracking time window according to the reverse time increment parameters and the lunar rover's hibernation time, and determine the extended time window according to the forward time increment parameters and the lunar rover's wake-up time.

[0057] Step S2: Obtain the historical illumination state parameters in the illumination forecast file within the retrospective time window, calculate the historical illumination state parameters to obtain the suitable illumination dormancy zone; obtain the illumination forecast data in the illumination forecast file within the extended time window, calculate the illumination forecast data to obtain the suitable illumination wake-up zone.

[0058] Step S3: Perform parameter fusion based on the suitable illumination hibernation zone and the suitable illumination wake-up zone to obtain a composite safety layer. Then, collaboratively solve the lunar rover's hibernation and wake-up zone based on the composite safety layer and the pre-acquired suitable terrain zone.

[0059] In step S1 above, the device responds by setting reverse time increment parameters and forward time increment parameters according to the illumination forecast file, determines a backtracking time window based on the reverse time increment parameters and the lunar rover's hibernation time, and determines an extended time window based on the forward time increment parameters and the lunar rover's wake-up time. The device can be a computer device executing this method. The acquisition, storage, use, and processing of data in this application's technical solution all comply with relevant regulations. In the ground mission planning system, based on a high-resolution lunar digital elevation model (DEM) and a high-precision celestial kinematic model, a high-precision long-term illumination forecast file is constructed through a three-dimensional illumination simulation algorithm. This illumination forecast file not only includes the illumination intensity of each coordinate point at different times, but also accurately records the duration of shadows caused by terrain occlusion and the changes in illumination.

[0060] Set the reverse time increment parameters and the forward time increment parameters, including:

[0061] The reverse time increment parameter and the forward time increment parameter are set based on the default settings or manual settings.

[0062] The step of determining the backtracking time window based on the reverse time increment parameter and the lunar rover's hibernation time includes:

[0063] The difference between the lunar rover's hibernation time and the reverse time increment parameter is used as the endpoint value of the backtracking time window, and the duration between the endpoint value of the backtracking time window and the lunar rover's hibernation time is determined as the backtracking time window.

[0064] In the hibernation zone calculation phase, to ensure the rover can safely and reliably reach the hibernation zone, a reverse spatiotemporal extrapolation method based on a history-dependent decision-making architecture is adopted. Using the hibernation time Ts as the endpoint of spatiotemporal analysis, a retrospective time window [Ts-dtB,Ts] is constructed by dynamically adjusting the reverse time increment parameter dtB. This parameter can be introduced through a preset method or manually set according to terrain complexity and hibernation requirements. Based on high-precision illumination forecast data, candidate regions are iteratively screened to ultimately determine the suitable hibernation zone that continuously meets illumination conditions within the retrospective time window. The calculation process is as follows: Figure 3 As shown.

[0065] The step of determining the extended time window based on the positive time increment parameter and the lunar rover's wake-up time includes:

[0066] The sum of the lunar rover's wake-up time and the positive time increment parameter is used as the endpoint value of the extended time window, and the duration between the lunar rover's wake-up time and the endpoint value of the extended time window is determined as the extended time window.

[0067] In the wake-up zone calculation phase, a dynamic illumination environment evolution model under a forward spatiotemporal coupled decision-making architecture is established to address the reliability requirements of lunar rover wake-up. The system uses the wake-up time Tw as the spatiotemporal extrapolation origin and constructs an extended time window [Tw, Tw+dtA] by adjusting the forward time increment parameter dtA. This parameter can be introduced through a preset method or manually set according to terrain complexity and wake-up requirements. Based on high-precision illumination forecast data, candidate regions are iteratively screened to ultimately determine the suitable wake-up zone that continuously meets illumination conditions within the extended time window. The calculation process is as follows: Figure 4 As shown.

[0068] In step S2 above, the device acquires the historical illumination state parameters in the illumination forecast file within the retrospective time window, calculates the historical illumination state parameters to obtain a suitable illumination dormancy zone; it also acquires the illumination forecast data in the illumination forecast file within the extended time window, calculates the illumination forecast data to obtain a suitable illumination wake-up zone. For example... Figure 3 As shown, the process of obtaining a suitable dormancy zone based on lighting is explained below:

[0069] This architecture embeds historical illumination parameters into the hibernation zone calculation and evaluation system, allowing the lunar rover to comprehensively consider changes in illumination conditions over the past dtB time range when searching for hibernation zones. Operators can dynamically adjust the dtB value range according to mission requirements—when equipment health declines or hibernation timeliness requirements increase, the dtB value is increased to expand the historical backtracking depth. This allows the hibernation zone calculation algorithm to employ a more conservative strategy to select high-confidence, suitable illumination hibernation zones, thereby achieving an optimal balance between safety and response speed under real-time computing resource constraints.

[0070] like Figure 4 As shown, the process of obtaining a suitable wake-up area based on lighting is explained below:

[0071] This architecture allows the path target point selection mechanism to focus more on the region's ability to consistently meet illumination requirements within the future time window. Operators can dynamically configure the dtA time span based on the task constraints of the wake-up phase—by extending the dtA value, the model's robustness in filtering uncertainties such as rapid shadow migration is enhanced. This drives the planning algorithm to prioritize wake-up candidate regions where illumination conditions meet requirements throughout the future dtA timeframe, ensuring the safe and reliable wake-up of the lunar rover while improving the system's ability to respond to unexpected anomalies.

[0072] In step S3 above, the device performs parameter fusion based on the suitable illumination hibernation zone and the suitable illumination wake-up zone to obtain a composite safety layer, and then collaboratively solves for the lunar rover's hibernation / wake-up zone based on the composite safety layer and the pre-acquired suitable terrain zone. The step of performing parameter fusion based on the suitable illumination hibernation zone and the suitable illumination wake-up zone to obtain the composite safety layer includes:

[0073] The historical illumination stability parameters of the dormant area in the suitable illumination dormant area are rasterized and superimposed with the future illumination guarantee rate parameters of the awakening area in the suitable illumination awakening area to obtain the composite security layer.

[0074] In the final decision-making stage, the retrospective analysis of the reverse hibernation zone and the prediction and extrapolation of the forward wake-up zone are integrated. The system overlays the historical illumination stability of the hibernation zone with the future illumination guarantee rate of the wake-up zone in a rasterized manner to generate a composite safety layer with spatiotemporal correlation. This effectively improves the reliability and adaptability of the lunar rover's hibernation and wake-up planning under complex illumination environments, and provides support for the calculation of the lunar rover's hibernation and wake-up zone and the selection of path points.

[0075] The step of collaboratively solving for the lunar rover's hibernation / awakening zone based on the composite safety layer and pre-acquired terrain-suitable areas includes:

[0076] By performing intersection and union operations on the composite safety layer and the terrain-suitable area, the collaborative solution result of the lunar rover's hibernation and wake-up area is obtained.

[0077] In the comprehensive decision-making process for the lunar rover's hibernation / awakening zone, constructing a coupled illumination-terrain model is crucial for ensuring mission continuity. The results of the third step are then incorporated into... Figure 1 The illustrated solution process for the lunar rover's hibernation / awakening region replaces the original "instantaneous snapshot" method for determining the suitable lighting conditions for hibernation / awakening, significantly enhancing the rover's survivability in complex lighting environments. The updated solution process for the lunar rover's hibernation / awakening region is as follows: Figure 5 As shown, Figure 5 The green portion represents the innovative module of this invention, used to replace the simplified calculation method for the suitable illumination zone during sleep / wake cycles in traditional solutions. Figure 5 (Middle blue module).

[0078] The collaborative solution method for the lunar rover's hibernation / wake-up zone provided in this invention proposes a reverse spatiotemporal extrapolation model based on a history-dependent decision-making architecture, as described below:

[0079] Using the hibernation time Ts as the endpoint of spatiotemporal analysis, a retrospective time window [Ts-dtB, Ts] is constructed by dynamically adjusting the reverse time increment parameter dtB. This parameter can be introduced through a preset method or manually set according to terrain complexity and hibernation requirements. This architecture innovatively embeds historical illumination parameters into the hibernation zone calculation and evaluation system, enabling the lunar rover to comprehensively consider changes in illumination conditions within the past dtB time range during the search for hibernation zones. The system supports operators in dynamically expanding or contracting the dtB parameter according to real-time task requirements: in scenarios where equipment reliability decreases or the requirement for hibernation timeliness increases, increasing the dtB value can strengthen the decision-making weight of historical illumination data, guiding the algorithm to prioritize hibernation areas with long-term stable illumination characteristics.

[0080] The collaborative solution method for the lunar rover's hibernation / wake-up zone provided in this invention proposes a dynamic illumination environment evolution model based on a forward spatiotemporal coupling decision architecture, as described below:

[0081] To address the reliability requirements of lunar rover wake-up, a dynamic illumination environment evolution model under a forward spatiotemporal coupled decision-making architecture is established. The system uses the wake-up time Tw as the spatiotemporal extrapolation origin and constructs an extended time window [Tw, Tw+dtA] by adjusting the forward time increment parameter dtA. This parameter can be introduced through a preset method or manually set according to terrain complexity and wake-up requirements. This architecture makes the path target point selection mechanism more focused on the region's ability to continuously meet illumination requirements within the future time window. The model enhances its robustness to uncertainties such as shadow migration by extending the dtA time span, driving the planning algorithm to prioritize candidate regions that will continuously meet illumination requirements within the future dtA period. Operators can dynamically adjust the time window scale, ensuring wake-up safety while enhancing the system's adaptability to sudden environmental anomalies.

[0082] The collaborative solution method for the lunar rover's hibernation / wake-up region provided in this invention proposes a fusion method of reverse hibernation region backtracking analysis and forward wake-up region prediction and deduction, as described below:

[0083] In the final decision-making stage, a spatiotemporally continuous dynamic assessment model of illumination is constructed by coupling the historical illumination retrospection of the reverse hibernation zone with the prediction and extrapolation of the forward wake-up zone. The system employs a rasterized spatiotemporal fusion technique to overlay hibernation zone stability verification data with wake-up zone illumination assurance predictions, generating a safety layer with spatiotemporal correlation. This method effectively improves the reliability and adaptability of lunar rover hibernation and wake-up planning under complex illumination environments, providing support for the calculation of the lunar rover's hibernation and wake-up zone.

[0084] Existing methods based on Digital Elevation Models (DEMs) and "instantaneous snapshot" illumination analysis can meet basic requirements for missions in the low and mid-latitudes of the Moon. However, their limitations become apparent when the target shifts to the South Pole region, where illumination conditions fluctuate dramatically. Firstly, they neglect the cumulative effect of the pre-hibernation photothermal environment: the hibernation decision-making process at the end of the lunar day does not consider the constraints of varying illumination conditions around the hibernation point on the hibernation zone. Secondly, traditional methods lack the ability to dynamically extrapolate across the entire mission cycle, failing to proactively model crucial constraints such as continuous energy supply after awakening, subsequent mission requirements, and emergency response plans. While such modeling errors may be tolerable under normal operating conditions, in the unique environment of the lunar South Pole with its dramatic illumination fluctuations, they can trigger catastrophic error accumulation effects. This rigid planning approach, if encountering unexpected conditions, can easily lead to a break in the entire mission chain.

[0085] The collaborative solution method for the lunar rover's hibernation / wake-up region provided in this invention has the following beneficial technical effects:

[0086] 1. A reverse spatiotemporal extrapolation model based on a history-dependent decision-making architecture is proposed, which embeds historical illumination parameters into the hibernation zone calculation and evaluation system, so that the lunar rover can comprehensively consider the changes in illumination conditions within the past dtB time range when searching for hibernation zones.

[0087] 2. A dynamic illumination environment evolution model based on a forward spatiotemporal coupling decision architecture is proposed. This architecture makes the path target point selection mechanism focus more on the region's ability to continuously meet illumination conditions within the future time window.

[0088] 3. A forward and reverse coupling model is proposed, which overlays the historical illumination stability of the dormant zone with the future illumination guarantee rate of the awakened zone in a rasterized manner to generate a spatiotemporally correlated composite safety layer. The two work together to solve the problem of extended shadows and illumination fluctuations caused by drastic terrain undulations in low solar altitude angle regions. This significantly improves the solution of dormant-awakened zones for lunar rovers in complex polar illumination environments and provides decision support for long-term exploration missions in extreme lunar environments.

[0089] 4. Develop a human-machine collaborative configuration mechanism for dynamically adjustable time window parameters (dtA / dtB) to enable operators to flexibly switch between conservative and aggressive strategies based on equipment status and task requirements, and establish a nonlinear balance between historical backtracking depth and future prediction span.

[0090] The collaborative solution method for the lunar rover's hibernation / awakening zone provided in this invention responds to the action of setting reverse time increment parameters and forward time increment parameters according to the illumination forecast file. It determines a backtracking time window based on the reverse time increment parameters and the lunar rover's hibernation time, and an extended time window based on the forward time increment parameters and the lunar rover's awakening time. It acquires the historical illumination state parameters from the illumination forecast file within the backtracking time window, calculates the historical illumination state parameters to obtain a suitable illumination hibernation zone. It acquires the illumination forecast data from the illumination forecast file within the extended time window, calculates the illumination forecast data to obtain a suitable illumination awakening zone. It fuses the parameters of the suitable illumination hibernation zone and the suitable illumination awakening zone to obtain a composite safety layer. It then collaboratively solves the lunar rover's hibernation / awakening zone based on the composite safety layer and a pre-acquired terrain-suitable zone. This method achieves a technological breakthrough in dynamic illumination condition adaptation and multi-constraint collaborative optimization in long-term exploration missions under complex illumination environments, significantly improving the lunar rover's full-domain exploration capability in complex terrain, dynamic illumination, and large-scale unknown areas.

[0091] In the above optional embodiments, setting the reverse time increment parameter and the forward time increment parameter includes:

[0092] The reverse time increment parameter and the forward time increment parameter are set based on the default settings or manually. Refer to the above embodiments for further details.

[0093] In the above optional embodiments, determining the backtracking time window based on the reverse time increment parameter and the lunar rover's hibernation time includes:

[0094] The difference between the lunar rover's hibernation time and the reverse time increment parameter is used as the endpoint value of the backtracking time window. The duration between the endpoint value of the backtracking time window and the lunar rover's hibernation time is determined as the backtracking time window. This can be referred to the above embodiment for explanation, and will not be repeated here.

[0095] In the above optional embodiments, determining the extended time window based on the positive time increment parameter and the lunar rover's wake-up time includes:

[0096] The sum of the lunar rover's wake-up time and the positive time increment parameter is used as the endpoint value of the extended time window. The duration between the lunar rover's wake-up time and the endpoint value of the extended time window is determined as the extended time window. This can be referred to the above embodiment for further explanation, and will not be repeated here.

[0097] In the above optional embodiments, the step of fusing parameters based on the suitable lighting sleep zone and the suitable lighting wake-up zone to obtain a composite security layer includes:

[0098] The historical illumination stability parameters of the dormant zone in the suitable illumination dormant zone and the future illumination guarantee rate parameters of the awakening zone in the suitable illumination awakening zone are rasterized and superimposed to obtain the composite security layer. This can be referred to the above embodiment for explanation, and will not be repeated here.

[0099] In the above optional embodiments, the step of collaboratively solving the lunar rover's hibernation / awakening zone based on the composite safety layer and the pre-acquired terrain suitability zone includes:

[0100] The intersection and union of the composite safety layer and the terrain-suitable area are used to obtain the collaborative solution result of the lunar rover's hibernation and wake-up area. This can be referred to the above embodiment for explanation, and will not be repeated here.

[0101] Figure 6 This is a schematic diagram of the structure of a collaborative solution device for the lunar rover's hibernation / wake-up region provided in an embodiment of the present invention, as shown below. Figure 6 As shown, the collaborative solution device for the lunar rover's hibernation / wake-up zone provided in this embodiment of the invention includes a determining unit 601, an acquiring unit 602, and a solving unit 603, wherein:

[0102] The determining unit 601 is used to respond to the action of setting reverse time increment parameters and forward time increment parameters according to the illumination forecast file, determining a backtracking time window based on the reverse time increment parameters and the lunar rover's hibernation time, and determining an extended time window based on the forward time increment parameters and the lunar rover's wake-up time; the acquiring unit 602 is used to acquire the illumination history state parameters in the illumination forecast file within the backtracking time window, solve the illumination history state parameters to obtain a suitable illumination hibernation zone; acquire the illumination forecast data in the illumination forecast file within the extended time window, solve the illumination forecast data to obtain a suitable illumination wake-up zone; the solving unit 603 is used to perform parameter fusion based on the suitable illumination hibernation zone and the suitable illumination wake-up zone to obtain a composite safety layer, and collaboratively solve the lunar rover's hibernation wake-up zone based on the composite safety layer and the pre-acquired suitable terrain zone.

[0103] Specifically, the determining unit 601 in the device is used to respond to the action of setting reverse time increment parameters and forward time increment parameters according to the illumination forecast file, determining a backtracking time window based on the reverse time increment parameters and the lunar rover's hibernation time, and determining an extended time window based on the forward time increment parameters and the lunar rover's wake-up time; the acquiring unit 602 is used to acquire the illumination history state parameters in the illumination forecast file within the backtracking time window, calculate the illumination history state parameters to obtain a suitable illumination hibernation zone; acquire the illumination forecast data in the illumination forecast file within the extended time window, calculate the illumination forecast data to obtain a suitable illumination wake-up zone; the solving unit 603 is used to perform parameter fusion based on the suitable illumination hibernation zone and the suitable illumination wake-up zone to obtain a composite safety layer, and collaboratively solve the lunar rover's hibernation wake-up zone based on the composite safety layer and the pre-acquired suitable terrain zone.

[0104] The collaborative solution device for the lunar rover's hibernation / awakening zone provided in this invention responds to actions of setting reverse time increment parameters and forward time increment parameters according to the illumination forecast file. It determines a backtracking time window based on the reverse time increment parameters and the lunar rover's hibernation time, and an extended time window based on the forward time increment parameters and the lunar rover's awakening time. It acquires historical illumination state parameters from the illumination forecast file within the backtracking time window, calculates these parameters to obtain a suitable illumination hibernation zone. It acquires illumination forecast data from the illumination forecast file within the extended time window, calculates the illumination forecast data to obtain a suitable illumination awakening zone. It fuses the parameters of the suitable illumination hibernation zone and the suitable illumination awakening zone to obtain a composite safety layer. It then collaboratively solves the lunar rover's hibernation / awakening zone based on the composite safety layer and a pre-acquired terrain-suitable zone. This achieves a technological breakthrough in dynamic illumination condition adaptation and multi-constraint collaborative optimization for long-term exploration missions under complex illumination environments, significantly improving the lunar rover's full-domain exploration capability in complex terrain, dynamic illumination, and large-scale unknown areas.

[0105] The embodiments of the present invention provide a collaborative solution device for the lunar rover's hibernation and wake-up area, which can be used to execute the processing flow of the above-described method embodiments. Its functions will not be repeated here, but can be referred to the detailed description of the above-described method embodiments.

[0106] Figure 7 This is a schematic diagram of the physical structure of a computer device provided in an embodiment of the present invention, such as... Figure 7 As shown, the computer device includes: a memory 701, a processor 702, and a computer program stored in the memory 701 and executable on the processor 702. When the processor 702 executes the computer program, it implements the following method:

[0107] The response is to set reverse time increment parameters and forward time increment parameters according to the illumination forecast file, determine the backtracking time window according to the reverse time increment parameters and the lunar rover's hibernation time, and determine the extended time window according to the forward time increment parameters and the lunar rover's wake-up time.

[0108] Obtain the historical illumination state parameters in the illumination forecast file within the retrospective time window, and calculate the historical illumination state parameters to obtain the suitable illumination dormancy zone; obtain the illumination forecast data in the illumination forecast file within the extended time window, and calculate the illumination forecast data to obtain the suitable illumination wake-up zone.

[0109] The parameters of the suitable hibernation zone and the suitable wake-up zone are fused to obtain a composite safety layer. The hibernation and wake-up zone of the lunar rover is then solved collaboratively based on the composite safety layer and the pre-acquired suitable terrain zone.

[0110] This embodiment discloses a computer program product, which includes a computer program that, when executed by a processor, implements the following method:

[0111] The response is to set reverse time increment parameters and forward time increment parameters according to the illumination forecast file, determine the backtracking time window according to the reverse time increment parameters and the lunar rover's hibernation time, and determine the extended time window according to the forward time increment parameters and the lunar rover's wake-up time.

[0112] Obtain the historical illumination state parameters in the illumination forecast file within the retrospective time window, and calculate the historical illumination state parameters to obtain the suitable illumination dormancy zone; obtain the illumination forecast data in the illumination forecast file within the extended time window, and calculate the illumination forecast data to obtain the suitable illumination wake-up zone.

[0113] The parameters of the suitable hibernation zone and the suitable wake-up zone are fused to obtain a composite safety layer. The hibernation and wake-up zone of the lunar rover is then solved collaboratively based on the composite safety layer and the pre-acquired suitable terrain zone.

[0114] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the following method:

[0115] The response is to set reverse time increment parameters and forward time increment parameters according to the illumination forecast file, determine the backtracking time window according to the reverse time increment parameters and the lunar rover's hibernation time, and determine the extended time window according to the forward time increment parameters and the lunar rover's wake-up time.

[0116] Obtain the historical illumination state parameters in the illumination forecast file within the retrospective time window, and calculate the historical illumination state parameters to obtain the suitable illumination dormancy zone; obtain the illumination forecast data in the illumination forecast file within the extended time window, and calculate the illumination forecast data to obtain the suitable illumination wake-up zone.

[0117] The parameters of the suitable hibernation zone and the suitable wake-up zone are fused to obtain a composite safety layer. The hibernation and wake-up zone of the lunar rover is then solved collaboratively based on the composite safety layer and the pre-acquired suitable terrain zone.

[0118] Compared with existing technical solutions, the collaborative solution method for the lunar rover's hibernation / awakening zone provided in this invention responds to the actions of setting reverse time increment parameters and forward time increment parameters according to the illumination forecast file. It determines a backtracking time window based on the reverse time increment parameters and the lunar rover's hibernation time, and determines an extended time window based on the forward time increment parameters and the lunar rover's awakening time. It obtains the historical illumination state parameters from the illumination forecast file within the backtracking time window, calculates the historical illumination state parameters, and obtains a suitable illumination hibernation zone. Within the extended time window, the illumination forecast data in the illumination forecast file is processed to obtain a suitable illumination wake-up area. Parameters are fused between the suitable illumination hibernation area and the suitable illumination wake-up area to obtain a composite safety layer. The lunar rover's hibernation wake-up area is then collaboratively solved based on the composite safety layer and pre-acquired terrain-suitable areas. This achieves a technological breakthrough in dynamic illumination condition adaptation and multi-constraint collaborative optimization for long-term exploration missions under complex illumination environments, significantly enhancing the lunar rover's ability to conduct full-domain exploration in complex terrain, dynamic illumination, and large-scale unknown areas.

[0119] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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.

[0120] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will 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 apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0121] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function 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.

[0122] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable 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.

[0123] In the description of this specification, the references to terms such as "an embodiment," "a specific embodiment," "some embodiments," "for example," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0124] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A collaborative solution method for the hibernation / wake-up region of a lunar rover, characterized in that, include: The response is to set reverse time increment parameters and forward time increment parameters according to the illumination forecast file, determine the backtracking time window according to the reverse time increment parameters and the lunar rover's hibernation time, and determine the extended time window according to the forward time increment parameters and the lunar rover's wake-up time. Obtain the historical illumination state parameters in the illumination forecast file within the retrospective time window, and calculate the historical illumination state parameters to obtain the suitable illumination dormancy zone; obtain the illumination forecast data in the illumination forecast file within the extended time window, and calculate the illumination forecast data to obtain the suitable illumination wake-up zone. The parameters of the suitable hibernation zone and the suitable wake-up zone are fused to obtain a composite safety layer. The hibernation and wake-up zone of the lunar rover is then solved collaboratively based on the composite safety layer and the pre-acquired suitable terrain zone.

2. The collaborative solution method for the lunar rover's hibernation / wake-up region according to claim 1, characterized in that, Set the reverse time increment parameters and the forward time increment parameters, including: The reverse time increment parameter and the forward time increment parameter are set based on the default settings or manual settings.

3. The collaborative solution method for the lunar rover's hibernation / wake-up region according to claim 1, characterized in that, The step of determining the backtracking time window based on the reverse time increment parameter and the lunar rover's hibernation time includes: The difference between the lunar rover's hibernation time and the reverse time increment parameter is used as the endpoint value of the backtracking time window, and the duration between the endpoint value of the backtracking time window and the lunar rover's hibernation time is determined as the backtracking time window.

4. The collaborative solution method for the lunar rover's hibernation / wake-up region according to claim 1, characterized in that, The step of determining the extended time window based on the positive time increment parameter and the lunar rover's wake-up time includes: The sum of the lunar rover's wake-up time and the positive time increment parameter is used as the endpoint value of the extended time window, and the duration between the lunar rover's wake-up time and the endpoint value of the extended time window is determined as the extended time window.

5. The collaborative solution method for the lunar rover hibernation / wake-up region according to claim 1, characterized in that, The step of fusing parameters based on the suitable lighting sleep zone and the suitable lighting wake-up zone to obtain a composite security layer includes: The historical illumination stability parameters of the dormant area in the suitable illumination dormant area are rasterized and superimposed with the future illumination guarantee rate parameters of the awakening area in the suitable illumination awakening area to obtain the composite security layer.

6. The collaborative solution method for the lunar rover hibernation / wake-up region according to any one of claims 1 to 5, characterized in that, The step of collaboratively solving for the lunar rover's hibernation / awakening zone based on the composite safety layer and pre-acquired terrain-suitable areas includes: By performing intersection and union operations on the composite safety layer and the terrain-suitable area, the collaborative solution result of the lunar rover's hibernation and wake-up area is obtained.

7. A collaborative solution device for the hibernation / wake-up region of a lunar rover, characterized in that, include: The determining unit is used to respond to the action of setting reverse time increment parameters and forward time increment parameters according to the illumination forecast file, determining the backtracking time window according to the reverse time increment parameters and the lunar rover's hibernation time, and determining the extended time window according to the forward time increment parameters and the lunar rover's wake-up time. The acquisition unit is used to acquire historical illumination state parameters in the illumination forecast file within the retrospective time window, calculate the historical illumination state parameters to obtain a suitable illumination dormancy zone; and acquire illumination forecast data in the illumination forecast file within the extended time window, calculate the illumination forecast data to obtain a suitable illumination wake-up zone. The solving unit is used to fuse parameters based on the suitable illumination hibernation zone and the suitable illumination wake-up zone to obtain a composite safety layer, and to collaboratively solve the hibernation and wake-up zone of the lunar rover based on the composite safety layer and the pre-acquired suitable terrain zone.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

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