Cooperative solving method and device for lunar rover hibernation wake-up area

Abstract

The application provides a lunar rover hibernation and wake-up area cooperative solving method and device, 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 light history state parameters in a light prediction file in the backtracking time window, and solving the light history state parameters to obtain a light suitable hibernation area; acquiring light prediction data in the light prediction file in the extended time window, and solving the light prediction data to obtain a light suitable wake-up area; performing parameter fusion on the light suitable hibernation area and the light suitable wake-up area to obtain a composite safety layer, and cooperatively solving the lunar rover hibernation and wake-up area according to the composite safety layer and a pre-acquired terrain suitable area. The device executes the above method. The method and device provided in the application embodiment improve the global surveying and detecting capability.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of spaceflight TT&C technology, in particular to a method and device for solving a hibernation and wake-up area of a lunar rover. BACKGROUND

[0002] The lunar exploration project has always occupied a core position in deep space exploration. It is not only a scientific laboratory for revealing the evolution mechanism of the Earth-Moon system, but also an extreme test field for verifying deep space survival technology. As the closest extraterrestrial object to the Earth, the lunar surface weathering layer composition, water ice distribution in the permanent shadow area, and moonquake activity data constitute the key to interpreting the formation and evolution of terrestrial planets. The lunar rover, as the core carrier for mobile exploration of planetary surfaces, has broken through the limitations of fixed landers in terms of spatial coverage and dynamic observation, supporting key tasks such as lunar soil property analysis, in-situ water ice detection, and permanent shadow area exploration, and has become a pioneer technology system for lunar resource development and utilization and manned base site selection.

[0003] The solution of the lunar rover hibernation and wake-up area is a core technical link in mobile exploration missions to ensure the continuous implementation of scientific objectives and the safe operation of equipment. The lunar surface has a large diurnal temperature difference (-180℃ to 120℃), and the disappearance of solar radiation during the lunar night leads to a disruption of solar power supply. The lunar rover must enter a hibernation state to shut down unnecessary loads and start an isotope heat source to maintain basic temperature control, and the selection of the hibernation area must meet the conditions of flat terrain and periodic illumination. The wake-up area must ensure that the solar panel can obtain sufficient light angle in time to restore power supply when the lunar day arrives, and through precise calculation of the relationship between solar elevation angle and terrain shading, the optimal wake-up time and path recovery exploration operation are planned under limited energy conditions. The scientific planning of the hibernation and wake-up area directly affects the survival probability of equipment in complex environments. The rover successfully implemented several lunar night survival and autonomous wake-up by setting the hibernation point in the sunny slope area through lunar terrain three-dimensional modeling and illumination simulation. In addition, this technology also supports long-period scientific data acquisition of exploration missions. Through the periodic hibernation and wake-up mechanism, the lunar rover can implement a combination of fixed-point exploration and mobile exploration at different lunar locations, expanding the spatial coverage of sampling analysis.

[0004] The lunar south pole exploration is the most valuable direction of the current lunar exploration project, and its core is to reveal the distribution of water ice resources in the permanent shadow area and the earth-moon evolution code under the complex environment. These explorations not only promote the innovation of complex environment mobile exploration technology, but also lay the material and cognitive foundation for establishing a sustainable lunar residence base. The lunar south pole area sleep-wake area solving is one of the most challenging technical bottlenecks in the current lunar rover engineering field, and the core difficulty is the multiple coupling constraints formed by the complex light environment and the complex topography of the area and the high reliability requirement of the exploration task. The solar elevation angle in this area is low for a long time, and the azimuth angle changes rapidly and periodically, superimposed with the shielding effect of impact craters, ridges and other micro-topography, forming a dynamic shadow network that fluctuates sharply with time. This dynamic characteristic makes the traditional instantaneous sleep-wake area solving method based on digital elevation model (DEM) invalid because it cannot represent the time-varying light boundary.

[0005] The sleep-wake area solving is a core guarantee technology for the energy safety and task continuity of the lunar rover, and its optimization level directly determines the survival probability and scientific output efficiency of the lunar rover in the complex lunar light environment. In the complex lunar light environment, the sleep-wake area solving needs to cope with multiple challenges such as changes in terrain and dynamic light conditions. The traditional light analysis method based on digital elevation model (DEM) and "instantaneous snapshot" can meet the basic needs in the lunar middle and low latitude mission, but when the exploration target turns to the south polar region with a dramatic fluctuation in light conditions, its limitations are highlighted. SUMMARY

[0006] In view of the problems in the prior art, the embodiments of the present application provide a lunar rover sleep-wake area cooperative solving method and device, which can at least partially solve the problems in the prior art.

[0007] In one aspect, the present application provides a lunar rover sleep-wake area cooperative solving method, comprising:

[0008] In response to the action of setting the reverse time increment parameter and the forward time increment parameter according to the light prediction file, determining the backtracking time window according to the reverse time increment parameter and the sleep time of the lunar rover, and determining the expansion time window according to the forward time increment parameter and the wake-up time of the lunar rover;

[0009] Obtain the light history state parameter in the light prediction file within the backtracking time window, calculate the light history state parameter to obtain the light suitable sleep area; obtain the light prediction data in the light prediction file within the expansion time window, and calculate the light prediction data to obtain the light suitable wake-up area;

[0010] According to the light suitable dormancy area and the light suitable wake-up area, parameter fusion is performed to obtain a composite safety layer, and according to the composite safety layer and a pre-acquired terrain suitable area, the dormancy wake-up area of the lunar rover is cooperatively solved.

[0011] The reverse time increment parameter and the forward time increment parameter are set based on a default setting mode or a manual setting mode.

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

[0013] The reverse time increment parameter and the forward time increment parameter are set based on a default setting mode or a manual setting mode.

[0014] The reverse time increment parameter and the forward time increment parameter are set based on a default setting mode or a manual setting mode.

[0015] The reverse time increment parameter and the forward time increment parameter are set based on a default setting mode or a manual setting mode.

[0016] The reverse time increment parameter and the forward time increment parameter are set based on a default setting mode or a manual setting mode.

[0017] The reverse time increment parameter and the forward time increment parameter are set based on a default setting mode or a manual setting mode.

[0018] The reverse time increment parameter and the forward time increment parameter are set based on a default setting mode or a manual setting mode.

[0019] The reverse time increment parameter and the forward time increment parameter are set based on a default setting mode or a manual setting mode.

[0020] The reverse time increment parameter and the forward time increment parameter are set based on a default setting mode or a manual setting mode.

[0021] The reverse time increment parameter and the forward time increment parameter are set based on a default setting mode or a manual setting mode.

[0022] The determining unit is configured to determine a backtracking time window according to the reverse time increment parameter and a sleep time of the lunar rover, and determine an extended time window according to the forward time increment parameter and a wake-up time of the lunar rover in response to the action of setting the reverse time increment parameter and the forward time increment parameter according to the illumination prediction file respectively;

[0023] The acquisition unit is configured to acquire an illumination historical state parameter in the illumination prediction file within the backtracking time window, solve the illumination historical state parameter to obtain an illumination suitable sleep area, acquire illumination prediction data in the illumination prediction file within the extended time window, and solve the illumination prediction data to obtain an illumination suitable wake-up area.

[0024] The solving unit is configured to perform parameter fusion according to the illumination suitable sleep area and the illumination suitable wake-up area to obtain a composite safety layer, and cooperatively solve a sleep / wake-up area of the lunar rover according to the composite safety layer and a pre-acquired terrain suitable area.

[0025] In another aspect, an embodiment of the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the following method when executing the computer program:

[0026] The determining unit is configured to determine a backtracking time window according to the reverse time increment parameter and a sleep time of the lunar rover, and determine an extended time window according to the forward time increment parameter and a wake-up time of the lunar rover in response to the action of setting the reverse time increment parameter and the forward time increment parameter according to the illumination prediction file respectively;

[0027] The acquisition unit is configured to acquire an illumination historical state parameter in the illumination prediction file within the backtracking time window, solve the illumination historical state parameter to obtain an illumination suitable sleep area, acquire illumination prediction data in the illumination prediction file within the extended time window, and solve the illumination prediction data to obtain an illumination suitable wake-up area.

[0028] The solving unit is configured to perform parameter fusion according to the illumination suitable sleep area and the illumination suitable wake-up area to obtain a composite safety layer, and cooperatively solve a sleep / wake-up area of the lunar rover according to the composite safety layer and a pre-acquired terrain suitable area.

[0029] An embodiment of the present application provides a computer readable storage medium, comprising:

[0030] The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the following method:

[0031] in response to the action of setting the reverse time increment parameter and the forward time increment parameter according to the illumination prediction file, determining a backtracking time window according to the reverse time increment parameter and the hibernation time of the lunar rover, and determining an extended time window according to the forward time increment parameter and the wake-up time of the lunar rover;

[0032] obtaining an illumination historical state parameter in the illumination prediction file within the backtracking time window, solving the illumination historical state parameter to obtain an illumination suitable hibernation area, obtaining illumination prediction data in the illumination prediction file within the extended time window, and solving the illumination prediction data to obtain an illumination suitable wake-up area;

[0033] performing parameter fusion according to the illumination suitable hibernation area and the illumination suitable wake-up area to obtain a composite safety layer, and cooperatively solving the hibernation and wake-up area of the lunar rover according to the composite safety layer and a pre-obtained terrain suitable area.

[0034] The embodiment of the present application also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to realize the following method:

[0035] in response to the action of setting the reverse time increment parameter and the forward time increment parameter according to the illumination prediction file, determining a backtracking time window according to the reverse time increment parameter and the hibernation time of the lunar rover, and determining an extended time window according to the forward time increment parameter and the wake-up time of the lunar rover;

[0036] obtaining an illumination historical state parameter in the illumination prediction file within the backtracking time window, solving the illumination historical state parameter to obtain an illumination suitable hibernation area, obtaining illumination prediction data in the illumination prediction file within the extended time window, and solving the illumination prediction data to obtain an illumination suitable wake-up area;

[0037] performing parameter fusion according to the illumination suitable hibernation area and the illumination suitable wake-up area to obtain a composite safety layer, and cooperatively solving the hibernation and wake-up area of the lunar rover according to the composite safety layer and a pre-obtained terrain suitable area.

[0038] The moon car hibernation wake-up area cooperative solving method and device provided by the embodiment of the application, in response to the action of setting the reverse time increment parameter and the forward time increment parameter according to the illumination prediction file, determining the backtracking time window according to the reverse time increment parameter and the hibernation time of the moon car, and determining the expansion time window according to the forward time increment parameter and the wake-up time of the moon car; obtaining the illumination historical state parameter in the illumination prediction file in the backtracking time window, solving the illumination historical state parameter, and obtaining the illumination suitable hibernation area; obtaining the illumination prediction data in the illumination prediction file in the expansion time window, solving the illumination prediction data, and obtaining the illumination suitable wake-up area; performing parameter fusion according to the illumination suitable hibernation area and the illumination suitable wake-up area, obtaining the composite safety layer, and cooperatively solving the hibernation wake-up area of the moon car according to the composite safety layer and the pre-obtained terrain suitable area, which realizes the technical breakthrough of dynamic illumination condition adaptation and multi-constraint cooperative optimization in a long-period exploration task under a complex illumination environment, and significantly improves the global exploration and detection capability of the moon car in a complex terrain, dynamic illumination and a large unknown area. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings. In the drawings:

[0040] Figure 1 FIG. 1 is a flowchart of a moon car hibernation wake-up area cooperative solving method provided by an embodiment of the application.

[0041] Figure 2 FIG. 2 is a flowchart of a moon car hibernation wake-up area cooperative solving method provided by another embodiment of the application.

[0042] Figure 3 FIG. 3 is a flowchart of a moon car hibernation wake-up area cooperative solving method provided by another embodiment of the application.

[0043] Figure 4 FIG. 4 is a flowchart of a moon car hibernation wake-up area cooperative solving method provided by another embodiment of the application.

[0044] Figure 5 FIG. 5 is a flowchart of a moon car hibernation wake-up area cooperative solving method provided by another embodiment of the application.

[0045] Figure 6 FIG. 6 is a structural diagram of a moon car hibernation wake-up area cooperative solving device provided by an embodiment of the application.

[0046] Figure 7 The computer device entity structure schematic diagram provided for the embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the embodiment of the present application more clear and explicit, the embodiment of the present application is further described in detail below in combination with the drawings. Herein, the illustrative embodiment of the present application and the description thereof are used to explain the present application, but are not as a limitation on the present application. It should be noted that, in the case of no conflict, the embodiment in the present application and the features in the embodiment can be combined with each other at will.

[0048] The hibernation wake-up area solving is a core guarantee technology for the energy safety and mission continuity of the lunar rover, and the optimization level thereof directly determines the survival probability and scientific output efficiency of the lunar rover under the complex lunar surface light environment. Under the complex lunar surface light environment, the hibernation wake-up area solving needs to cope with multiple challenges such as terrain and dynamic light condition changes. The traditional light analysis method based on digital elevation model (DEM) and "instant snapshot" can meet the basic needs in the middle and low latitude mission of the moon, but when the detection target turns to the south polar region with severe fluctuation of light conditions, the limitation thereof is highlighted. As shown in the following table, the specific description is as follows. Figure 1

[0049] Firstly, based on the digital elevation map (DEM) of the lunar surface, the slope, slope direction and roughness of each point in the map are calculated.

[0050] Secondly, according to the heading and attitude requirements of the lunar rover when waking up, and the slope, slope direction and roughness of each point, the area meeting the terrain condition requirements is solved.

[0051] Thirdly, combined with the light prediction file, the area range with light at the wake-up time is calculated.

[0052] Fourthly, the calculation results of the second step and the third step are merged, and the intersection thereof is taken as the solving result of the hibernation wake-up area.

[0053] Problem analysis: the lunar rover hibernation wake-up area planning method has key value in deep space exploration mission, but the traditional solving method presents significant systematic defects when coping with the complex time-varying environment of the lunar south pole. The root cause lies in the modeling framework of time-space decoupling and the discrete constraint processing logic: by decoupling the continuous time-space dimension into discrete time slices for static analysis, this simplified processing reduces the calculation complexity, but leads to serious damage to the physical reality of the model.

[0054] ​Specifically, the traditional method focuses on the isolated time slice of the wake-up moment for illumination condition evaluation. This "instant snapshot" based modeling method has the following defects: first, it ignores the cumulative effect of the pre-sleeping light and heat environment: during the sleep decision-making process at the end of the lunar day, the constraints of the illumination condition changes around the sleep point on the dormancy area are not considered. Second, the traditional method lacks dynamic deduction ability for the whole task cycle, and lacks forward-looking modeling for important constraints such as continuous energy supply after waking up, subsequent task demand and emergency disposal plan. This modeling error may still be within the tolerance range under normal working conditions, but in the special environment of the lunar south pole where there is a dramatic change in illumination, it will cause a disastrous cumulative effect of error. This rigid planning scheme is extremely easy to cause the global task chain to break once it encounters unexpected working conditions.

[0055] Figure 2 is a flowchart of a method for cooperatively solving the sleep and wake-up area of a lunar rover provided by an embodiment of the present application, as shown in Figure 2 The method for cooperatively solving the sleep and wake-up area of a lunar rover provided by the embodiment of the present application comprises the following steps:

[0056] Step S1: In response to the action of setting the reverse time increment parameter and the forward time increment parameter according to the illumination prediction file, determining the backtracking time window according to the reverse time increment parameter and the sleep time of the lunar rover, and determining the expansion time window according to the forward time increment parameter and the wake-up time of the lunar rover.

[0057] Step S2: Obtain the illumination history state parameter in the illumination prediction file within the backtracking time window, solve the illumination history state parameter to obtain the illumination suitable sleep area; obtain the illumination prediction data in the illumination prediction file within the expansion time window, solve the illumination prediction data to obtain the illumination suitable wake-up area.

[0058] Step S3: Perform parameter fusion according to the illumination suitable sleep area and the illumination suitable wake-up area to obtain a composite safety layer, and cooperatively solve the sleep and wake-up area of the lunar rover according to the composite safety layer and the pre-obtained terrain suitable area.

[0059] In step S1, the device determines a backtracking time window according to the reverse time increment parameter and the sleep time of the lunar rover, and determines an extended time window according to the forward time increment parameter and the wake-up time of the lunar rover, in response to setting the reverse time increment parameter and the forward time increment parameter according to the illumination prediction file respectively. The device can be a computer device for executing the method. In the technical solution of the present application, the acquisition, storage, use, processing, etc. of data comply with relevant regulations. In the ground task planning system, a high-precision long-term illumination prediction file is constructed through a three-dimensional illumination simulation algorithm based on a high-resolution lunar surface digital elevation model (DEM) and a high-precision celestial mechanics model. The illumination prediction file not only contains the illumination intensity of each coordinate point at different time periods, but also accurately records the shadow duration and illumination change caused by terrain occlusion.

[0060] The reverse time increment parameter and the forward time increment parameter are set, including:

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

[0062] The backtracking time window is determined according to the reverse time increment parameter and the sleep time of the lunar rover, including:

[0063] The difference between the sleep time of the lunar rover and the reverse time increment parameter is taken as an endpoint value of the backtracking time window, and the time length between the endpoint value of the backtracking time window and the sleep time of the lunar rover is determined as the backtracking time window.

[0064] In the sleep area solving link, in order to ensure that the lunar rover can safely and reliably reach the sleep area, a reverse space-time deduction method based on a history-dependent decision architecture is adopted. The sleep time Ts is taken as the space-time analysis endpoint, and a backtracking time window [Ts-dtB, Ts] is constructed by dynamically adjusting the reverse time increment parameter dtB. The parameter can be introduced by a preset method or manually set according to the terrain complexity and sleep demand. Based on high-precision illumination prediction data, the candidate area is iteratively screened, and finally the illumination suitable sleep area that continuously meets the illumination condition in the backtracking time window is determined. The solving process is as shown in Figure 3 .

[0065] The extended time window is determined according to the forward time increment parameter and the wake-up time of the lunar rover, including:

[0066] The sum of the wake-up time of the lunar rover and the forward time increment parameter is taken as an endpoint value of the extended time window, and the time length between the wake-up time of the lunar rover and the endpoint value of the extended time window is determined as the extended time window.

[0067] In the wake-up area solving link, a dynamic illumination environment evolution model under the positive space-time coupling decision architecture is established for the reliability requirements of lunar rover wake-up. The system takes the wake-up time Tw as the space-time deduction origin, and constructs an extended time window [Tw, Tw+dtA] by adjusting the positive time increment parameter dtA. This parameter can be introduced by a preset method or manually set according to the terrain complexity and wake-up requirements. Based on high-precision illumination prediction data, the candidate area is iteratively screened, and the illumination suitable wake-up area that continuously meets the illumination conditions within the extended time window is finally determined. The solving process is as shown in Figure 4 .

[0068] In the above step S2, the device obtains the illumination history state parameters in the illumination prediction file within the backtracking time window, solves the illumination history state parameters, and obtains the illumination suitable hibernation area; obtains the illumination prediction data in the illumination prediction file within the extended time window, solves the illumination prediction data, and obtains the illumination suitable wake-up area. As shown in Figure 3 , the acquisition of the illumination suitable hibernation area is explained as follows:

[0069] This architecture embeds the illumination history state parameters into the hibernation area solving and evaluation system, so that the lunar rover can comprehensively consider the illumination condition changes within the past dtB time range in the process of finding the hibernation area. The operator can dynamically adjust the value range of dtB according to the task requirements—when the device health decreases or the hibernation timeliness requirement increases, the historical backtracking depth is expanded by increasing the value of dtB, so that the hibernation area solving algorithm selects a high-confidence illumination suitable hibernation area with a more conservative strategy, thereby achieving the optimal balance between safety and response speed under the constraint of real-time computing resources.

[0070] As shown in Figure 4 , the acquisition of the illumination suitable wake-up area is explained as follows:

[0071] This architecture makes the path target point screening mechanism more focused on the continuous compliance of the area's illumination conditions within the future time window. The operator can dynamically configure the time span of dtA according to the task constraints in the wake-up phase—by prolonging the value of dtA to enhance the model's robustness filtering of uncertain factors such as shadow rapid migration, the planning algorithm is driven to preferentially select wake-up candidate areas whose illumination conditions meet the requirements within the future dtA time, thereby ensuring the safety and reliability of the lunar rover wake-up while improving the system's ability to respond to unexpected abnormal situations.

[0072] In step S3, the device performs parameter fusion according to the light suitable hibernation area and the light suitable wake-up area to obtain a composite safety layer, and cooperatively solves the hibernation wake-up area of the lunar rover according to the composite safety layer and a pre-acquired terrain suitable area.

[0073] The hibernation area historical light stability parameter of the light suitable hibernation area is rasterized and superimposed with the wake-up area future light guarantee rate parameter of the light suitable wake-up area to obtain the composite safety layer.

[0074] In the final decision stage, the reverse hibernation area backtracking analysis is fused with the forward wake-up area prediction deduction. The system rasterizes and superimposes the hibernation area historical light stability with the wake-up area future light guarantee rate to generate a composite safety layer with spatiotemporal correlation, effectively improving the reliability and adaptability of the lunar rover hibernation wake-up planning under complex light environment, and providing support for the lunar rover hibernation wake-up area calculation and path point selection.

[0075] The cooperatively solving the hibernation wake-up area of the lunar rover according to the composite safety layer and the pre-acquired terrain suitable area includes:

[0076] The composite safety layer and the terrain suitable area are taken intersection set to obtain the cooperatively solving result of the lunar rover hibernation wake-up area.

[0077] In the lunar rover hibernation wake-up area comprehensive decision process, constructing a light-terrain coupling model is the core to ensure the continuity of the task. The third step result is introduced into the lunar rover hibernation wake-up area solving process shown in Figure 1 The original "instant snapshot" type hibernation wake-up light suitable area solving method is replaced, which can significantly enhance the survival ability of the lunar rover in a complex light environment. The updated lunar rover hibernation wake-up area solving process is shown in Figure 5 Figure 5 The middle green part is the innovative module of the application, which replaces the simplified hibernation wake-up light suitable area calculation method (the blue module in the prior art) in the traditional scheme. Figure 5

[0078] The cooperatively solving method of the lunar rover hibernation wake-up area provided in the embodiment of the application proposes a reverse spatiotemporal deduction model based on a historical dependent type decision architecture, which is described as follows:

[0079] ​​Take the dormancy moment Ts as the end point of space-time analysis, and construct the backtracking time window [Ts-dtB, Ts] by dynamically adjusting the reverse time increment parameter dtB. The parameter can be introduced by a preset method or manually set according to the terrain complexity and dormancy demand. The architecture innovatively embeds the illumination history state parameter into the dormancy area calculation and evaluation system, so that the lunar rover can comprehensively consider the illumination condition change in the past dtB time range in the process of finding the dormancy area. The system supports the operator to dynamically expand or shrink the dtB parameter according to the real-time task demand: in the scene where the device reliability is reduced or the dormancy timeliness requirement is improved, increasing the dtB value can strengthen the decision weight of historical illumination data, and guide the algorithm to preferentially select the dormancy area with long-term stable illumination characteristics.

[0080] The lunar rover dormancy and wake-up area cooperative solving method provided by the embodiment of the application proposes a dynamic illumination environment evolution model based on a forward space-time coupling decision architecture, as follows:

[0081] A dynamic illumination environment evolution model under the forward space-time coupling decision architecture is established for the reliability requirement of the lunar rover wake-up. The system takes the wake-up moment Tw as the space-time derivation origin, and constructs the extended time window [Tw, Tw+dtA] by adjusting the forward time increment parameter dtA. The parameter can be introduced by a preset method or manually set according to the terrain complexity and wake-up demand. The architecture makes the path target point screening mechanism more focused on the illumination condition continuous compliance ability of the area in the future time window. The model strengthens the robustness to uncertain factors such as shadow migration by prolonging the dtA time span, and drives the planning algorithm to preferentially screen the candidate areas that continuously meet the illumination requirements in the future dtA period. The operator can dynamically adjust the time window scale, ensure the safety of wake-up, and enhance the adaptability of the system to sudden environmental abnormalities.

[0082] The lunar rover dormancy and wake-up area cooperative solving method provided by the embodiment of the application proposes a fusion method of reverse dormancy area backtracking analysis and forward wake-up area prediction and derivation, as follows:

[0083] In the final decision stage, a space-time continuous illumination dynamic evaluation model is constructed by coupling the reverse dormancy area historical illumination backtracking and the forward wake-up area prediction and derivation. The system uses grid-based space-time fusion technology to superimpose the dormancy area stability verification data and the wake-up area illumination guarantee prediction, and generates a safety layer with space-time correlation. The method effectively improves the reliability and adaptability of the lunar rover dormancy and wake-up planning in a complex illumination environment, and provides support for lunar rover dormancy and wake-up area calculation.

[0084] The existing digital elevation model (DEM) and "instant snapshot" based light analysis method can still meet the basic needs in low-latitude lunar missions. However, its limitations are highlighted when the exploration target turns to the South Pole region where the light condition fluctuates dramatically. Firstly, the cumulative effect of the light and heat environment before the hibernation phase is ignored: during the hibernation decision-making process at the end of the lunar day, the constraints of the light condition changes around the hibernation point on the hibernation area are not considered. Secondly, the traditional method lacks dynamic deduction ability for the whole task cycle, and lacks forward-looking modeling for important constraints such as continuous energy supply after waking up, subsequent task demand, and emergency disposal plan. This modeling error may still be within the tolerance range under normal working conditions, but in the special environment of the South Pole of the Moon where the light fluctuates dramatically, it will cause a disastrous cumulative effect of error. Once the rigid planning scheme encounters unexpected working conditions, it is easy to cause the global task chain to break.

[0085] The method for cooperatively solving the hibernation and wake-up areas of the lunar rover provided by the embodiments of the present application has the following beneficial technical effects:

[0086] 1. The reverse space-time deduction model based on the historical dependence type decision architecture is proposed, the light history state parameters are embedded into the hibernation area calculation and evaluation system, so that the lunar rover can comprehensively consider the light condition changes in the past dtB time range when finding the hibernation area.

[0087] 2. The dynamic light environment evolution model based on the forward space-time coupling decision architecture is proposed, which makes the path target point screening mechanism more focused on the light condition continuous compliance ability of the area in the future time window.

[0088] 3. The forward and reverse coupling model is proposed, which superimposes the historical light stability of the hibernation area and the future light guarantee rate of the wake-up area to generate a space-time related composite safety layer, which cooperatively solves the problems of extended shadow and light fluctuation caused by the dramatic ups and downs of the terrain in the low solar elevation angle area, significantly improves the solution of the hibernation and wake-up areas of the lunar rover in the complex light environment of the polar region, and provides decision support for long-period exploration missions in extreme lunar surface environments.

[0089] 4. The dynamic adjustable time window parameter (dtA / dtB) human-computer collaborative configuration mechanism is developed, so that the operator can flexibly switch between conservative / aggressive strategies according to the equipment state and task demand, and establish a nonlinear balance between the depth of historical backtracking and the span of future prediction.

[0090] The moon car hibernation wake-up area cooperative solving method provided by the embodiment of the application responds to the action of setting reverse time increment parameters and forward time increment parameters according to illumination prediction files, determines a backtracking time window according to the reverse time increment parameters and a hibernation time of the moon car, and determines an extended time window according to the forward time increment parameters and a wake-up time of the moon car; obtains illumination historical state parameters in the illumination prediction files within the backtracking time window, solves the illumination historical state parameters, and obtains an illumination suitable hibernation area; obtains illumination prediction data in the illumination prediction files within the extended time window, solves the illumination prediction data, and obtains an illumination suitable wake-up area; performs parameter fusion according to the illumination suitable hibernation area and the illumination suitable wake-up area, obtains a composite safety layer, and cooperatively solves the hibernation wake-up area of the moon car according to the composite safety layer and a pre-obtained terrain suitable area, thereby realizing a technical breakthrough of dynamic illumination condition adaptation and multi-constraint cooperative optimization in a long-period exploration task under a complex illumination environment, and significantly improving the global exploration capability of the moon car in a complex terrain, dynamic illumination and a large unknown area.

[0091] In the optional embodiment described above, setting the reverse time increment parameters and the forward time increment parameters comprises:

[0092] The reverse time increment parameters and the forward time increment parameters are set based on a default setting mode or an artificial setting mode. Refer to the description of the above embodiment, and no further description is given.

[0093] In the optional embodiment described above, determining the backtracking time window according to the reverse time increment parameters and the hibernation time of the moon car comprises:

[0094] The difference between the hibernation time of the moon car and the reverse time increment parameters is taken as an endpoint value of the backtracking time window, and the time length between the hibernation time of the moon car and the endpoint value of the backtracking time window is determined as the backtracking time window. Refer to the description of the above embodiment, and no further description is given.

[0095] In the optional embodiment described above, determining the extended time window according to the forward time increment parameters and the wake-up time of the moon car comprises:

[0096] The sum of the wake-up time of the moon car and the forward time increment parameters is taken as an endpoint value of the extended time window, and the time length between the wake-up time of the moon car and the endpoint value of the extended time window is determined as the extended time window. Refer to the description of the above embodiment, and no further description is given.

[0097] In the optional embodiment described above, performing parameter fusion according to the illumination suitable hibernation area and the illumination suitable wake-up area to obtain a composite safety layer comprises:

[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 fuse parameters 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 configured to, in response to the action of setting the reverse time increment parameter and the forward time increment parameter according to the illumination prediction file respectively, determine a backtracking time window according to the reverse time increment parameter and the dormancy time of the lunar rover, and determine an extended time window according to the forward time increment parameter and the wake-up time of the lunar rover; the obtaining unit 602 is configured to obtain an illumination historical state parameter in the illumination prediction file within the backtracking time window, solve the illumination historical state parameter, and obtain an illumination suitable dormancy area; obtain illumination prediction data in the illumination prediction file within the extended time window, solve the illumination prediction data, and obtain an illumination suitable wake-up area; and the solving unit 603 is configured to perform parameter fusion according to the illumination suitable dormancy area and the illumination suitable wake-up area, obtain a composite safety layer, and cooperatively solve the lunar rover's dormancy wake-up area according to the composite safety layer and a pre-obtained terrain suitable area.

[0104] The device for cooperatively solving the lunar rover's dormancy wake-up area provided by the embodiment of the present application is configured to, in response to the action of setting the reverse time increment parameter and the forward time increment parameter according to the illumination prediction file respectively, determine a backtracking time window according to the reverse time increment parameter and the dormancy time of the lunar rover, and determine an extended time window according to the forward time increment parameter and the wake-up time of the lunar rover; obtain an illumination historical state parameter in the illumination prediction file within the backtracking time window, solve the illumination historical state parameter, and obtain an illumination suitable dormancy area; obtain illumination prediction data in the illumination prediction file within the extended time window, solve the illumination prediction data, and obtain an illumination suitable wake-up area; perform parameter fusion according to the illumination suitable dormancy area and the illumination suitable wake-up area, obtain a composite safety layer, and cooperatively solve the lunar rover's dormancy wake-up area according to the composite safety layer and a pre-obtained terrain suitable area, thereby achieving a technical breakthrough in dynamic illumination condition adaptation and multi-constraint cooperative optimization in a long-period exploration task under a complex illumination environment, and significantly improving the global exploration and detection capability of the lunar rover in a complex terrain, dynamic illumination and a large unknown area.

[0105] The embodiment of the device for cooperatively solving the lunar rover's dormancy wake-up area provided by the embodiment of the present application can be specifically configured to execute the processing procedures of the above-mentioned method embodiments, and the functions thereof will not be described here again, and can be referred to the detailed description of the above-mentioned method embodiments.

[0106] Figure 7 The computer device entity structure schematic diagram provided by the embodiment of the present application is shown in FIG. 7, which comprises a memory 701, a processor 702, and a computer program stored in the memory 701 and capable of running on the processor 702, wherein the processor 702 implements the following method when executing the computer program. Figure 7 The computer device entity structure schematic diagram provided by the embodiment of the present application is shown in FIG. 7, which comprises a memory 701, a processor 702, and a computer program stored in the memory 701 and capable of running on the processor 702, wherein the processor 702 implements the following method when executing the computer program.

[0107] in response to the action of setting the reverse time increment parameter and the forward time increment parameter according to the illumination prediction file respectively, determining a backtracking time window according to the reverse time increment parameter and the hibernation time of the lunar rover, and determining an extended time window according to the forward time increment parameter and the wake-up time of the lunar rover;

[0108] obtaining an illumination historical state parameter in the illumination prediction file within the backtracking time window, solving the illumination historical state parameter to obtain an illumination suitable hibernation area; obtaining illumination prediction data in the illumination prediction file within the extended time window, and solving the illumination prediction data to obtain an illumination suitable wake-up area;

[0109] performing parameter fusion according to the illumination suitable hibernation area and the illumination suitable wake-up area to obtain a composite safety layer, and cooperatively solving the hibernation and wake-up area of the lunar rover according to the composite safety layer and a pre-obtained terrain suitable area.

[0110] The embodiment discloses a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the following method:

[0111] in response to the action of setting the reverse time increment parameter and the forward time increment parameter according to the illumination prediction file respectively, determining a backtracking time window according to the reverse time increment parameter and the hibernation time of the lunar rover, and determining an extended time window according to the forward time increment parameter and the wake-up time of the lunar rover;

[0112] obtaining an illumination historical state parameter in the illumination prediction file within the backtracking time window, solving the illumination historical state parameter to obtain an illumination suitable hibernation area; obtaining illumination prediction data in the illumination prediction file within the extended time window, and solving the illumination prediction data to obtain an illumination suitable wake-up area;

[0113] performing parameter fusion according to the illumination suitable hibernation area and the illumination suitable wake-up area to obtain a composite safety layer, and cooperatively solving the hibernation and wake-up area of the lunar rover according to the composite safety layer and a pre-obtained terrain suitable area.

[0114] The embodiment provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the following method:

[0115] In response to the action of setting the reverse time increment parameter and the forward time increment parameter according to the illumination prediction file, a backtracking time window is determined according to the reverse time increment parameter and the hibernation time of the lunar rover, and an extended time window is determined according to the forward time increment parameter and the wake-up time of the lunar rover;

[0116] An illumination history state parameter in the illumination prediction file within the backtracking time window is acquired, the illumination history state parameter is calculated, and an illumination suitable hibernation area is obtained; illumination prediction data in the illumination prediction file within the extended time window is acquired, the illumination prediction data is calculated, and an illumination suitable wake-up area is obtained;

[0117] The illumination suitable hibernation area and the illumination suitable wake-up area are fused to obtain a composite safety layer, and the composite safety layer and a pre-acquired terrain suitable area are used to cooperatively solve the hibernation wake-up area of the lunar rover.

[0118] Compared with the technical solution in the prior art, the cooperative solving method for the hibernation wake-up area of the lunar rover provided by the embodiment of the present application responds to the action of setting the reverse time increment parameter and the forward time increment parameter according to the illumination prediction file, determines a backtracking time window according to the reverse time increment parameter and the hibernation time of the lunar rover, and determines an extended time window according to the forward time increment parameter and the wake-up time of the lunar rover; acquires an illumination history state parameter in the illumination prediction file within the backtracking time window, calculates the illumination history state parameter, and obtains an illumination suitable hibernation area; acquires illumination prediction data in the illumination prediction file within the extended time window, calculates the illumination prediction data, and obtains an illumination suitable wake-up area; fuses the illumination suitable hibernation area and the illumination suitable wake-up area to obtain a composite safety layer, and cooperatively solves the hibernation wake-up area of the lunar rover according to the composite safety layer and a pre-acquired terrain suitable area, thereby achieving a technical breakthrough in dynamic illumination condition adaptation and multi-constraint cooperative optimization in a long-period exploration task under a complex illumination environment, and significantly improving the global exploration and detection capability of the lunar rover in a complex terrain, dynamic illumination, and a large unknown area.

[0119] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0120] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0121] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0122] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0123] In the description of the specification, the description of the terms "one embodiment", "one specific embodiment", "some embodiments", "for example", "exemplary", "specific exemplary", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or more embodiments or examples.

[0124] The above-described specific embodiments, the purposes, technical solutions and beneficial effects of the present application are further described in detail. It should be understood that the above-described specific embodiments are only specific embodiments of the present application and are not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

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. 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 of ​​the suitable illumination dormant area and the future illumination guarantee rate parameters of the awakening area of ​​the suitable illumination awakening area are rasterized and superimposed to obtain the composite security layer. 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.

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. 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; 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 of ​​the suitable illumination dormant area and the future illumination guarantee rate parameters of the awakening area of ​​the suitable illumination awakening area are rasterized and superimposed to obtain the composite security layer. 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.

6. 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 4.

7. 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 4.

8. 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 4.

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