Method and device for generating a safety buffer for a lunar rover movement

Abstract

The application provides a safety buffer generation method and device for lunar rover movement, and the method comprises the following steps: adaptively generating a first inflation coefficient according to the configuration parameters of the lunar rover; establishing a mapping relationship between the movement distance parameters and the position deviation; introducing repositioning information as a spatial discretization reference to reconstruct the movement distance parameters, obtaining a second inflation coefficient based on the reconstructed movement distance parameters and the mapping relationship, and the second inflation coefficient is a corrected position deviation; combining the first inflation coefficient and the second inflation coefficient as a third inflation coefficient; performing geometric expansion on the original obstacles based on the third inflation coefficient to generate a safety buffer for the movement of the lunar rover. The application can automatically refresh the safety buffer boundary with the change of the configuration of the lunar rover, and also solves the contradiction between the infinite expansion of the inflation radius and the loss of path connectivity in large-scale exploration through a periodic reset function, and establishes a nonlinear balance between the safety margin and the accessibility.

Description

Technical Field

[0001] This invention relates to the field of aerospace telemetry and control technology, and in particular to a method and apparatus for generating a safety buffer zone for lunar rover movement. Background Technology

[0002] Since the mid-20th century, lunar exploration, as a frontier of deep space exploration, has driven a fundamental transformation in planetary science research paradigms. Lunar rover path planning, a core technological component of deep space exploration missions, is crucial not only for ensuring the smooth implementation of missions but also for profoundly impacting the depth and breadth of humankind's development of lunar resources and scientific exploration. The lunar surface is covered with impact craters, steep slopes, and loose lunar regolith; improper path selection can lead to wheel sinking or equipment damage, highlighting the decisive role of high-precision path planning for equipment safety. It can be said that continuous breakthroughs in lunar rover path planning capabilities represent the culmination of aerospace engineering technology and are a key technological pillar for humanity's expansion into extraterrestrial life. Its development level directly relates to the strategic transformation of lunar exploration from single-point breakthroughs to systematic and routine operations.

[0003] Obstacle expansion technology holds irreplaceable value in lunar rover path planning. By constructing virtual safety buffer boundaries, it effectively resolves the contradiction between navigation feasibility and motion safety in the complex lunar environment. By adding safety buffers to original obstacles, obstacle expansion technology transforms the physical dimensions of obstacles and the kinematic characteristics of the lunar rover into spatial constraints, constructing a virtual obstacle topology with integrated safety margins. This avoids movement risks caused by lunar system errors and provides interference-resistant planning space for path search algorithms. From an engineering perspective, obstacle expansion technology not only reduces the hardware accuracy requirements of the sensing system, but the robust path it constructs also provides valuable error tolerance for subsequent scientific exploration missions. This allows the lunar rover to approach high-value scientific targets to the maximum extent possible while ensuring absolute safety, truly achieving a dialectical unity between risk control and exploration effectiveness.

[0004] While obstacle expansion technology significantly improves motion safety in current lunar rover path planning, it also has several limitations in engineering applications. First, this technology relies excessively on preset static expansion parameters. Setting these parameters too small can lead to "safe path traps," while setting them too large may result in overly conservative approaches that reject all possible routes. Second, traditional expansion algorithms only consider the systematic errors of lunar rover movement and sliding, assuming these errors are constant and ignoring the cumulative effect of errors. Finally, from a system integration perspective, obstacle expansion technology lacks sufficient coupling with other modules. When the robotic arm deploys or the solar array adjusts, the dynamically changing rover envelope is not fed back to the expansion model in real time, creating safety vulnerabilities. Summary of the Invention

[0005] In view of this, the present invention provides a method and apparatus for generating a safety buffer zone for lunar rover movement, in order to solve at least one of the problems mentioned above.

[0006] To achieve the above objectives, the present invention adopts the following solution:

[0007] According to a first aspect of the present invention, a method for generating a safe buffer zone for lunar rover movement is provided. The method includes: adaptively generating a first expansion coefficient based on the lunar rover's own configuration parameters; establishing a mapping relationship between movement distance parameters and position deviation; introducing repositioning information as a spatial discretization reference to reconstruct the movement distance parameters; obtaining a second expansion coefficient based on the reconstructed movement distance parameters and the mapping relationship, wherein the second expansion coefficient is a corrected position deviation; merging the first expansion coefficient and the second expansion coefficient as a third expansion coefficient; and geometrically expanding the original obstacle based on the third expansion coefficient to generate a safe buffer zone for lunar rover movement.

[0008] As an embodiment of the present invention, the method described above for adaptively generating the first expansion coefficient based on the lunar rover's own configuration parameters includes: when the lunar rover's deployable mechanism is in a retracted state, the length of the main half-shaft enveloped by the outer diameter of the wheel system is used as the first expansion coefficient; when the lunar rover's deployable mechanism is in an extended state, the length of the main half-shaft enveloped by the maximum vehicle body is used as the first expansion coefficient.

[0009] As an embodiment of the present invention, establishing the mapping relationship between the movement distance parameter and the position deviation in the above method includes: establishing a mapping function between the movement distance parameter and the position deviation:

[0010] d(r)=k·r a ;

[0011] Where d(r) represents the position deviation, k represents the lunar surface motion coupling system, r represents the motion distance parameter, and a represents the error accumulation inflation factor, which reflects the error amplification caused by slippage or subsidence.

[0012] As an embodiment of the present invention, the relocation information in the above method is the relocation distance, and the step of introducing the relocation information as a spatial discretization reference to reconstruct the movement distance parameter includes:

[0013] The movement distance parameters are reconstructed based on the relocation distance, and the reconstructed movement distance parameters are as follows:

[0014] L' = mod(L, Lr);

[0015] Where L' represents the reconstructed travel distance parameter, L represents the travel distance parameter, and Lr represents the relocation distance.

[0016] As an embodiment of the present invention, the above method further includes: dynamically correcting the relocation distance based on the lunar rover's mission data.

[0017] As an embodiment of the present invention, the method described above, which combines the first expansion coefficient and the second expansion coefficient to form the third expansion coefficient, includes:

[0018] The third expansion coefficient is obtained by adding the first expansion coefficient to the second expansion coefficient. The third expansion coefficient is:

[0019] I = Rw + d(mod(L, Lr));

[0020] Where I represents the third expansion coefficient, Rw represents the first expansion coefficient, and d(mod(L,Lr)) represents the second expansion coefficient.

[0021] According to a second aspect of the present invention, a safety buffer zone generation apparatus for lunar rover movement is provided. The apparatus includes: a first coefficient acquisition unit, configured to adaptively generate a first expansion coefficient based on the lunar rover's own configuration parameters; a mapping relationship establishment unit, configured to establish a mapping relationship between movement distance parameters and position deviation; a second coefficient acquisition unit, which introduces repositioning information as a spatial discretization reference, reconstructs the movement distance parameters, and obtains a second expansion coefficient based on the reconstructed movement distance parameters and the mapping relationship, wherein the second expansion coefficient is a corrected position deviation; a third coefficient acquisition unit, which merges the first expansion coefficient and the second expansion coefficient as a third expansion coefficient; and a buffer zone generation unit, configured to geometrically expand the original obstacle based on the third expansion coefficient to generate a safety buffer zone for lunar rover movement.

[0022] As an embodiment of the present invention, the first coefficient acquisition unit is specifically used for: when the deployable mechanism of the lunar rover is in the retracted state, using the length of the main half-shaft enveloped by the outer diameter of the wheel system as the first expansion coefficient; when the deployable mechanism of the lunar rover is in the deployed state, using the length of the main half-shaft enveloped by the maximum vehicle body as the first expansion coefficient.

[0023] As an embodiment of the present invention, the above-mentioned mapping relationship establishment unit is specifically used to: establish a mapping function between the movement distance parameter and the position deviation:

[0024] d(r)=k·r a ;

[0025] Where d(r) represents the position deviation, k represents the lunar surface motion coupling system, r represents the motion distance parameter, and a represents the error accumulation inflation factor, which reflects the error amplification caused by slippage or subsidence.

[0026] As an embodiment of the present invention, the above-mentioned relocation information is a relocation distance, and the above-mentioned second coefficient acquisition unit is specifically used for:

[0027] The movement distance parameters are reconstructed based on the relocation distance, and the reconstructed movement distance parameters are as follows:

[0028] L' = mod(L, Lr);

[0029] Where L' represents the reconstructed travel distance parameter, L represents the travel distance parameter, and Lr represents the relocation distance.

[0030] As an embodiment of the present invention, the above-mentioned device further includes a correction unit for dynamically correcting the relocation distance based on the lunar rover's mission data.

[0031] As an embodiment of the present invention, the third coefficient acquisition unit is specifically used to: add the first expansion coefficient to the second expansion coefficient to obtain the third expansion coefficient, wherein the third expansion coefficient is:

[0032] I = Rw + d(mod(L, Lr));

[0033] Where I represents the third expansion coefficient, Rw represents the first expansion coefficient, and d(mod(L,Lr)) represents the second expansion coefficient.

[0034] According to a third aspect of the present invention, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0035] According to a fourth aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0036] According to a fifth aspect of the present invention, a computer program product is provided, comprising a computer program / instructions that, when executed by a processor, implement the steps of the above-described method.

[0037] As can be seen from the above technical solutions, the safety buffer generation method and apparatus for lunar rover movement provided in this application can automatically refresh the safety buffer boundary as the lunar rover configuration changes, realizing real-time dynamic adjustment of the body expansion coefficient according to the solar array deployment angle, the working state of the robotic arm, and other multi-modal mechanism forms. This breaks through the rigid constraints of traditional fixed expansion coefficients, reducing the risk of interference in complex configuration movements while achieving an optimal balance between obstacle avoidance tolerance space and movement efficiency. It also solves the dual contradiction of "overly conservative" and "insufficient safety redundancy" caused by the mismatch of the body envelope shape in static expansion algorithms. Furthermore, by establishing a nonlinear mapping function between the movement distance parameter and the position deviation, this application quantifies kinematic uncertainty into a dynamic constraint of spatiotemporal correlation, breaking through the traditional static compensation mode of fixed expansion coefficients. This enables real-time dynamic correction of the expansion coefficient, achieving an optimal balance between covering extreme deviation scenarios and avoiding overly conservative approaches in the safety buffer threshold. Finally, the spatial discretization mechanism based on relocation distance, specially designed in this application, resolves the contradiction between the infinite expansion radius and the loss of path connectivity in large-scale exploration through a periodic reset function, establishing a nonlinear balance between safety margin and accessibility. Attached Figure Description

[0038] 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:

[0039] Figure 1 This is a flowchart illustrating a method for generating a safety buffer zone for lunar rover movement, as provided in an embodiment of this application.

[0040] Figure 2 This is a schematic diagram of the first expansion coefficient provided in an embodiment of this application;

[0041] Figure 3 This is a flowchart of the third expansion coefficient adaptive generation method provided in the embodiments of this application;

[0042] Figure 4 This is a schematic diagram of a safety buffer zone generation device for lunar rover movement provided in an embodiment of this application;

[0043] Figure 5 This is a schematic diagram of the structure of the period preset value adjustment unit provided in the embodiments of this application. Detailed Implementation

[0044] 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 of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0045] In current lunar rover path planning, the obstacle expansion technique used to construct safety buffer zones primarily employs the static expansion coefficient method. This is a conservative safety strategy that geometrically expands the original obstacles by pre-setting a fixed threshold. Based on the vehicle's physical dimensions, minimum turning radius, and empirical safety margin, this method expands the outlines of detected lunar obstacles (such as rocks and crater edges) outward by a fixed distance, generating a virtual obstacle topology with a unified buffer boundary. The expansion amount remains constant throughout the mission lifecycle and is not adjusted by changes in terrain mechanics, motion state, or environmental dynamics. The core parameters of the static expansion coefficient are typically set based on boundary conditions such as the maximum slip rate statistically derived from ground simulation experiments. By sacrificing some path flexibility for deterministic obstacle avoidance, it essentially constructs a rigid "safety-danger" binary spatial division. The engineering implementation of this method relies on a balance between prior environmental knowledge and risk tolerance, avoiding common terrain risks and simplifying algorithm complexity and reducing real-time computational load to some extent.

[0046] However, the rigid dependence on the preset expansion coefficient in the existing safety buffer construction algorithms leads to a contradiction in parameter sensitivity: when the expansion coefficient is set too small, although it can improve the exploration space for path optimization, it can induce a safe path trap phenomenon in complex terrain, meaning that the planner may miss truly feasible safe passages due to local extremum convergence; conversely, if an excessively large expansion parameter is used for conservative processing, the feasible region of the solution space will be over-compressed, causing a surge in path rejection rate in areas with dense dynamic obstacles or narrow terrain, or even non-physical planning failures with no global solution. This dilemma in parameter adjustment not only reduces the system's adaptability to complex lunar terrain, but also reflects the theoretical bottleneck of obstacle expansion algorithms based on static expansion coefficients in balancing safety and passability under multiple constraints, severely restricting the success rate of exploration missions and the robustness of system decision-making.

[0047] For the reasons stated above, the purpose of this application is to provide a method and apparatus for generating a safety buffer zone for lunar rover movement, in order to overcome the aforementioned deficiencies of the prior art, such as... Figure 1 The diagram shown is a flowchart illustrating a method for generating a safety buffer zone for lunar rover movement according to an embodiment of this application. The implementation subject of this embodiment is the control system of the lunar rover, which includes the following steps:

[0048] Step S101: Adaptively generate the first expansion coefficient based on the lunar rover's own configuration parameters.

[0049] In the multi-module collaborative operation system of the lunar rover, the system integration architecture of obstacle expansion technology has revealed deep-seated design flaws. The core problem lies in the lack of a dynamic topological coupling mechanism: when the states of structural components such as the solar array, robotic arm, and omnidirectional antenna change, the static expansion coefficient does not change accordingly. This mismatch between the static envelope and the dynamic form means that the safety buffer constructed through expansion does not match the actual mission state. This can lead to anything from "over-expansion," excessively compressing the feasible region of the solution space, to, in severe cases, posing a collision risk to the lunar rover's movement.

[0050] Therefore, this step aims to determine the body expansion coefficient (first expansion coefficient) of a lunar rover, which reflects the rover's physical dimensions and mechanical state. During mission execution, the rover's configuration is not fixed; for example, the deployment of solar panels and the extension of robotic arms will alter the rover's overall envelope. Therefore, the first expansion coefficient needs to be adaptively adjusted based on these changes in configuration parameters. This adaptive adjustment can more accurately reflect the rover's actual dimensions, avoiding problems of over-expansion or under-expansion.

[0051] Step S102: Establish the mapping relationship between the movement distance parameter and the position deviation.

[0052] The theoretical framework of traditional obstacle inflation algorithms is overly idealistic in its modeling of movement and slippage errors. While it compensates for systematic errors in wheel-to-ground interactions through preset values, it fails to construct a dynamic slippage model coupled with multiple physics fields, i.e., it fails to consider the cumulative effect of errors. This simplification results in an inflation coefficient that is unsuitable for long-distance path planning. This static error compensation mechanism severely weakens the physical reliability of path planning in the real lunar environment and increases the risk of motion instability.

[0053] Therefore, the purpose of this step is to quantify the positional deviation of the lunar rover during its movement due to various factors (such as slippage and subsidence). This positional deviation accumulates with increasing travel distance, and if left unchecked, it could lead to significant discrepancies between the actual and planned positions, potentially causing safety issues. To quantify this deviation, a mapping relationship between the travel distance parameter and the positional deviation needs to be established. This can typically be achieved using a function that describes how the positional deviation changes with travel distance.

[0054] In this embodiment, this mapping relationship can be established based on the lunar surface environment and control algorithms: different lunar surface environments (such as flat areas, soft areas, rugged areas, etc.) will lead to different degrees of slippage and subsidence, thus affecting the accumulation rate of position deviation. Different control algorithms have different abilities to suppress slippage and subsidence, which will also affect the accumulation rate of position deviation.

[0055] Step S103: Introduce repositioning information as a spatial discretization reference, reconstruct the movement distance parameter, and obtain a second expansion coefficient based on the reconstructed movement distance parameter and the mapping relationship. The second expansion coefficient is the corrected position deviation.

[0056] Because positional deviations accumulate with increasing travel distance, the expansion coefficient will grow larger and larger if left uncontrolled, leading to a shrinking planning space and even the inability to find a feasible path. To address this issue, a repositioning mechanism is introduced in this step. Repositioning refers to the rover determining its precise position on the lunar surface through some method (such as visual positioning, inertial navigation, etc.). After each repositioning, the rover's positional error is corrected to zero. Therefore, the repositioning distance can be used as a period to reconstruct the travel distance parameters.

[0057] Substituting the reconstructed travel distance parameters into the mapping relationship established in step S102, the corrected position deviation can be obtained. This is the travel system error inflation coefficient (second inflation coefficient) that takes into account the cumulative effect.

[0058] Step S104: Combine the first expansion coefficient and the second expansion coefficient to form the third expansion coefficient.

[0059] The purpose of this step is to combine the rover's own configuration factors and the error factors during the movement process to obtain a comprehensive expansion coefficient (third expansion coefficient).

[0060] Step S105: Based on the third expansion coefficient, the original obstacle is geometrically expanded to generate a safe buffer zone for the movement of the lunar rover.

[0061] This step involves geometrically expanding the original obstacle based on the final determined expansion coefficient, thereby generating a safety buffer zone. There are various methods for geometric expansion, such as circular expansion or polygonal expansion. Circular expansion involves expanding each vertex of the obstacle outwards by a circular region with a radius equal to the third expansion coefficient. Polygonal expansion involves translating each edge of the obstacle outwards by a distance equal to the third expansion coefficient, and then connecting the translated vertices to form a new polygon. The specific expansion algorithm based on the expansion coefficient will not be detailed in this embodiment; relevant existing technologies can be consulted. This embodiment aims to improve the expansion coefficient in the expansion algorithm to achieve the corresponding technical effects.

[0062] As can be seen from the above technical solutions, the safety buffer generation method for lunar rover movement provided in this application can automatically refresh the safety buffer boundary as the lunar rover configuration changes, realizing real-time dynamic adjustment of the body expansion coefficient according to the solar array deployment angle, the working state of the robotic arm, and other multi-modal mechanism forms. This breaks through the rigid constraints of traditional fixed expansion coefficients, reducing the risk of interference in complex configuration movements while achieving an optimal balance between obstacle avoidance tolerance space and movement efficiency. It also solves the dual contradiction of "overly conservative" and "insufficient safety redundancy" caused by the mismatch of the body envelope shape in static expansion algorithms. Furthermore, this application establishes a nonlinear mapping function between the movement distance parameter and the position deviation, quantifying kinematic uncertainty into a dynamic constraint of spatiotemporal correlation. This breaks through the static compensation mode of traditional fixed expansion coefficients, enabling real-time dynamic correction of the expansion coefficient, achieving an optimal balance between covering extreme deviation scenarios and avoiding overly conservative approaches in the safety buffer threshold. Finally, the spatial discretization mechanism based on relocation distance, specially designed in this application, resolves the contradiction between infinite expansion radius and path connectivity loss in large-scale exploration through a periodic reset function, establishing a nonlinear balance between safety margin and accessibility.

[0063] In one embodiment of this application, the adaptive generation of the first expansion coefficient based on the lunar rover's own configuration parameters in step S101 may further include: when the lunar rover's deployable mechanism is in a retracted state, the length of the main half-shaft enveloped by the outer diameter of the wheel system is used as the first expansion coefficient; when the lunar rover's deployable mechanism is in an extended state, the length of the main half-shaft enveloped by the maximum vehicle body is used as the first expansion coefficient.

[0064] like Figure 2 The diagram shows a first expansion coefficient provided in an embodiment of this application, denoted as Rw. This application proposes a Dynamic Envelope-based Adaptive Inflation (DEAI) mechanism, the core of which lies in constructing a time-varying parameter model of the vehicle-mechanism coupling. Specifically, when the deployable mechanism (including structures such as solar panels, robotic arms, and omnidirectional antennas) is in a retracted state, the main half-axis length of the wheel system's outer diameter envelope is used as the body expansion coefficient, at which point Rw = R. When the scientific exploration mission triggers the mechanism to deploy, the maximum vehicle body envelope main half-axis length Rw is used as the body expansion coefficient. This dynamic expansion coefficient can be introduced as a real-time parameter into subsequent calculations within the safety buffer.

[0065] This adaptive expansion strategy with state memory capability allows for rapid and dynamic updates to safety boundaries as the rover's configuration changes. By incorporating structural morphology changes into the path planning constraint model in real time, the system can automatically adjust the body expansion coefficient based on parameters such as the robotic arm's deployment angle and the solar array's retraction / extension state, thereby precisely balancing obstacle avoidance tolerance space with mobility efficiency. This multimodal coupled adjustment mechanism reduces the risk of motion interference under complex configurations and optimizes the expansion coefficient through parameter linkage, providing robust assurance for the lunar rover's long-term operations in complex environments.

[0066] In one embodiment of this application, establishing the mapping relationship between the movement distance parameter and the position deviation in step S102 above may further include:

[0067] Establish the mapping function between the movement distance parameter and the position deviation as shown in equation (1):

[0068] d(r) = k · r a (1)

[0069] Where d(r) represents the position deviation, k represents the lunar surface motion coupling system, r represents the motion distance parameter, and a represents the error accumulation inflation factor, which reflects the error amplification caused by slippage or subsidence.

[0070] The aforementioned mapping function is a motion error-constrained distance cumulative expansion model constructed based on measured data accumulated from lunar exploration projects. By establishing a mapping function between the motion distance parameter r and the position deviation d(r), path robustness optimization in the complex lunar environment is achieved.

[0071] d(r) represents the positional deviation, i.e., the deviation between the actual position and the desired position of the lunar rover. k is the lunar surface movement coupling coefficient (k>0), which is related to factors such as lunar surface materials, wheel structure, and control algorithm, reflecting the rover's movement performance on a specific lunar surface. r represents the movement distance parameter. α is the error accumulation inflation factor (α>=1), reflecting the error amplification caused by slippage / subsidence. When α=1, it represents linear accumulation error, suitable for flat lunar surfaces. When α>1, it represents superlinear accumulation error, which can simulate the accelerated accumulation of errors in complex terrain.

[0072] This method, which quantifies kinematic uncertainty into spatiotemporal constraints, effectively balances path safety and global optimality. It is suitable for static obstacle areas with complete prior information and scenarios with relatively short movement distances, and can provide continuity assurance for lunar rover path generation.

[0073] In another embodiment of this application, the relocation information in step S103 above is the relocation distance, wherein introducing the relocation information as a spatial discretization reference and reconstructing the movement distance parameter may further include:

[0074] The movement distance parameters are reconstructed based on the relocation distance, and the reconstructed movement distance parameters are as follows (2):

[0075] L' = mod(L, Lr) (2)

[0076] Where L' represents the reconstructed travel distance parameter, L represents the travel distance parameter, and Lr represents the relocation distance.

[0077] In step S102 above, a cumulative expansion model of movement error constraint distance is introduced. Its expansion coefficient increases with the movement distance parameter r, leading to a significant decrease in path connectivity or even the inability to find a passable path. To address this problem, this application innovatively introduces the relocation distance Lr as a spatial discretization benchmark and designs a regression obstacle expansion model based on the relocation distance: By merging the volumetric expansion coefficient with the movement system error expansion coefficient considering cumulative effects, and utilizing the characteristic that the cumulative movement error returns to zero after the lunar rover's relocation, the movement distance parameter L is reconstructed as L' = mod(L, Lr).

[0078] The mod(L,Lr) operation described above maps the distance parameter L to the range of 0 to Lr. It can be seen that by reconstructing the distance parameter L into L' using the periodic reset function mod(L,Lr), the expansion radius is periodically reset while maintaining local continuity. This establishes a dynamic balance between the cumulative effect of distance error and the spatial safety margin, effectively suppressing the amplification effect of the expansion radius. Thus, a nonlinear balance between safety and accessibility is achieved in large-scale space exploration. Simply put, whenever the lunar rover's travel distance reaches the repositioning distance Lr, the accumulated travel distance is "reset" to 0. This prevents errors from accumulating and causing the expansion radius to become too large, affecting the connectivity of the path.

[0079] In another embodiment of this application, the method further includes: dynamically correcting the relocation distance based on the lunar rover's mission data. The dynamic correction of the relocation distance Lr is closely related to the mission data, which includes, but is not limited to, terrain data, mission objectives, and the lunar rover's movement speed.

[0080] Terrain data includes terrain complexity and obstacle density. In complex terrain, more frequent relocation is required, so the range (Lr) needs to be set lower. Mission objectives, such as path accuracy requirements, also play a role. If a high-precision path is needed, more frequent relocation is required, and Lr should be set lower. The rover's speed also affects error accumulation; faster speeds may lead to faster error accumulation, thus requiring adjustment of Lr.

[0081] By dynamically adjusting Lr based on task data, the generation of safety buffers can be made more flexible and intelligent, thereby better balancing security and reachability.

[0082] In another embodiment of this application, the step S104 above, which combines the first expansion coefficient and the second expansion coefficient to form the third expansion coefficient, may further include:

[0083] The third expansion coefficient is obtained by adding the first expansion coefficient to the second expansion coefficient, and the third expansion coefficient is given by the following formula (3):

[0084] I = Rw+d(mod(L,Lr)) (3)

[0085] Where I represents the third expansion coefficient, Rw represents the first expansion coefficient, and d(mod(L,Lr)) represents the second expansion coefficient.

[0086] In this embodiment, the first expansion coefficient and the second expansion coefficient are directly added together to obtain the third expansion coefficient. It should be noted that this application does not exclude the possibility of using other methods to combine the first and second expansion coefficients to obtain the third expansion parameter, such as assigning different weights to the first and second expansion coefficients based on their importance, and then performing a weighted sum. Alternatively, the larger value of the first and second expansion coefficients can be selected as the third expansion coefficient.

[0087] For a detailed explanation of the above method, please refer to [link / reference needed]. Figure 3 This is a flowchart of the third expansion coefficient adaptive generation method provided in the embodiments of this application. It includes the following three parts:

[0088] 1. Loading dynamic body expansion coefficient: Starting from the body expansion coefficient Rw, the lunar rover's envelope structure changes in real time and is dynamically corrected.

[0089] 2. Load the mobile system error inflation coefficient: Start with the mobile system error inflation coefficient d(r). The task data is learned online and dynamically corrected.

[0090] 3. Merging: Merge the body expansion coefficient Rw and the moving system error expansion coefficient d (mod(L,Lr)). The calculation formula is Rw+d (mod(L,Lr)).

[0091] This flowchart describes how to adaptively generate a third expansion coefficient based on the rover's status and mission data to ensure the rover's safe movement in complex environments.

[0092] like Figure 4The diagram shows a structural schematic of a safety buffer zone generation device for lunar rover movement provided in an embodiment of this application. The device includes: a first coefficient acquisition unit 410, a mapping relationship establishment unit 420, a second coefficient acquisition unit 430, a third coefficient acquisition unit 440, and a buffer zone generation unit 450, which are connected sequentially.

[0093] The first coefficient acquisition unit 410 is used to adaptively generate the first expansion coefficient based on the lunar rover's own configuration parameters.

[0094] The mapping relationship establishment unit 420 is used to establish the mapping relationship between the movement distance parameter and the position deviation.

[0095] The second coefficient acquisition unit 430 introduces repositioning information as a spatial discretization reference, reconstructs the movement distance parameter, and obtains a second expansion coefficient based on the reconstructed movement distance parameter and the mapping relationship. The second expansion coefficient is the corrected position deviation.

[0096] The third coefficient acquisition unit 440 combines the first expansion coefficient and the second expansion coefficient as the third expansion coefficient.

[0097] The buffer generation unit 450 is used to geometrically expand the original obstacle based on the third expansion coefficient to generate a safe buffer for the movement of the lunar rover.

[0098] In one embodiment of this application, the first coefficient acquisition unit 410 is specifically used to: when the lunar rover's deployable mechanism is in a retracted state, use the length of the main half-shaft enveloped by the outer diameter of the wheel system as the first expansion coefficient; when the lunar rover's deployable mechanism is in an extended state, use the length of the main half-shaft enveloped by the maximum vehicle body as the first expansion coefficient.

[0099] In one embodiment of this application, the mapping relationship establishment unit 420 is specifically used to: establish a mapping function between the movement distance parameter and the position deviation:

[0100] d(r)=k·r a ;

[0101] Where d(r) represents the position deviation, k represents the lunar surface motion coupling system, r represents the motion distance parameter, and a represents the error accumulation inflation factor, which reflects the error amplification caused by slippage or subsidence.

[0102] In one embodiment of this application, the relocation information is a relocation distance, and the second coefficient acquisition unit 430 is specifically used for:

[0103] The movement distance parameters are reconstructed based on the relocation distance, and the reconstructed movement distance parameters are as follows:

[0104] L' = mod(L, Lr);

[0105] Where L' represents the reconstructed travel distance parameter, L represents the travel distance parameter, and Lr represents the relocation distance.

[0106] In one embodiment of this application, the above-described apparatus further includes a correction unit for dynamically correcting the relocation distance based on lunar rover mission data.

[0107] In one embodiment of this application, the third coefficient acquisition unit 440 is specifically used to: add the first expansion coefficient to the second expansion coefficient to obtain the third expansion coefficient, wherein the third expansion coefficient is:

[0108] I = Rw + d(mod(L, Lr));

[0109] Where I represents the third expansion coefficient, Rw represents the first expansion coefficient, and d(mod(L,Lr)) represents the second expansion coefficient.

[0110] As described above, the safety buffer generation device for lunar rover movement provided in this application can automatically refresh the safety buffer boundary as the lunar rover configuration changes. It enables real-time dynamic adjustment of the body expansion coefficient according to the solar array deployment angle, robotic arm working state, and other multi-modal mechanism forms, breaking through the rigid constraints of traditional fixed expansion coefficients. While reducing the risk of interference in complex configuration movements, it achieves an optimal balance between obstacle avoidance tolerance space and movement efficiency, resolving the dual contradiction of "overly conservative" and "insufficient safety redundancy" caused by the mismatch of the body envelope shape in static expansion algorithms. Furthermore, by establishing a nonlinear mapping function between the movement distance parameter and the position deviation, this application quantifies kinematic uncertainty into a dynamic constraint of spatiotemporal correlation, breaking through the static compensation mode of traditional fixed expansion coefficients. This allows for real-time dynamic correction of the expansion coefficient, achieving an optimal balance between covering extreme deviation scenarios and avoiding overly conservative approaches in the safety buffer threshold. Finally, the spatial discretization mechanism based on relocation distance, specially designed in this application, resolves the contradiction between infinite expansion radius expansion and path connectivity loss in large-scale exploration through a periodic reset function, establishing a nonlinear balance between safety margin and accessibility.

[0111] Figure 5 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Figure 5 The illustrated electronic device is a general-purpose data processing apparatus, comprising a general-purpose computer hardware architecture, including at least a processor 801 and a memory 802. The processor 801 and memory 802 are connected via a bus 803. The memory 802 is adapted to store one or more instructions or programs executable by the processor 801. These instructions or programs are executed by the processor 801 to implement the steps in the aforementioned method for generating a safety buffer zone for lunar rover movement.

[0112] The processor 801 described above can be a standalone microprocessor or a collection of one or more microprocessors. Thus, the processor 801 executes commands stored in the memory 802, thereby performing the method flow of the embodiments of the present invention as described above to process data and control other devices. The bus 803 connects the aforementioned components together, and also connects these components to the display controller 804, the display device, and the input / output (I / O) device 805. The input / output (I / O) device 805 can be a mouse, keyboard, modem, network interface, touch input device, motion-sensing input device, printer, and other devices known in the art. Typically, the input / output (I / O) device 805 is connected to the system via an input / output (I / O) controller 806.

[0113] The memory 802 can store software components, such as an operating system, a communication module, an interaction module, and application programs. Each of the modules and application programs described above corresponds to a set of executable program instructions that perform one or more functions and the methods described in the embodiments of the invention.

[0114] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the above-described method for generating a safety buffer for lunar rover movement.

[0115] This invention also provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the above-described method for generating a safety buffer for lunar rover movement.

[0116] The method and apparatus for generating a safe buffer zone for lunar rover movement provided in this application can automatically refresh the safe buffer zone boundary as the lunar rover's configuration changes. This enables real-time dynamic adjustment of the body expansion coefficient based on multimodal mechanism morphology, such as the solar array deployment angle and the robotic arm's working state. It breaks through the rigid constraints of traditional fixed expansion coefficients, achieving an optimal balance between obstacle avoidance tolerance and movement efficiency while reducing the risk of interference in complex configuration movements. This resolves the dual contradiction of "overly conservative" and "insufficient safety redundancy" caused by the mismatch in the body envelope shape in static expansion algorithms. Furthermore, by establishing a nonlinear mapping function between the movement distance parameter and the position deviation, the application quantifies kinematic uncertainty into a dynamic constraint of spatiotemporal correlation, breaking through the static compensation mode of traditional fixed expansion coefficients. This allows for real-time dynamic correction of the expansion coefficient, achieving an optimal balance between covering extreme deviation scenarios and avoiding overly conservative approaches in the safety buffer threshold. Finally, the spatial discretization mechanism based on relocation distance, specially designed in this application, resolves the contradiction between infinitely expanding expansion radius and loss of path connectivity in large-scale exploration through a periodic reset function, establishing a nonlinear balance between safety margin and accessibility.

[0117] Preferred embodiments of the invention have been described above with reference to the accompanying drawings. Many features and advantages of these embodiments are apparent from this detailed description, and therefore the claims are intended to cover all such features and advantages of these embodiments that fall within their true spirit and scope. Furthermore, since many modifications and alterations will readily occur to those skilled in the art, the embodiments of the invention are not intended to be limited to the precise structures and operations illustrated and described, but rather to encompass all suitable modifications and equivalents falling within their scope.

[0118] 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.

[0119] 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 1One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0120] 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.

[0121] 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.

[0122] 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 method for generating a safety buffer for lunar rover movement, characterized in that, The method comprises: Adaptive generation of a first inflation coefficient according to a lunar rover self-configuration parameter; Establishment of a mapping relationship between a movement distance parameter and a position deviation; Introduction of repositioning information as a spatial discretization reference to reconstruct the movement distance parameter, obtaining of a second inflation coefficient based on the reconstructed movement distance parameter and the mapping relationship, the second inflation coefficient being a corrected position deviation; Combination of the first inflation coefficient and the second inflation coefficient as a third inflation coefficient; Geometric expansion of an original obstacle based on the third inflation coefficient to generate a safety buffer zone for lunar rover movement; The adaptive generation of the first inflation coefficient according to the lunar rover self-configuration parameter comprises: When the deployable mechanism of the lunar rover is in the collapsed state, the major semi-axis length of the wheel train outer diameter envelope is used as the first inflation coefficient; when the deployable mechanism of the lunar rover is in the deployed state, the major semi-axis length of the maximum vehicle body envelope is used as the first inflation coefficient; The establishment of the mapping relationship between the movement distance parameter and the position deviation comprises: Establishment of a mapping function of the movement distance parameter and the position deviation: d ( r ) = k ； wherein, d(r) represents a position deviation, k represents a lunar movement coupling coefficient, r represents a movement distance parameter, a represents an error accumulation inflation factor, embodying error amplification caused by slippage or subsidence; The repositioning information is a repositioning distance, and the introduction of the repositioning information as the spatial discretization reference to reconstruct the movement distance parameter comprises: Reconstruction of the movement distance parameter based on the repositioning distance, the reconstructed movement distance parameter being: L' = m od ( L,Lr ) ； wherein, L' denotes the reconfigured movement distance parameter, L denotes the movement distance parameter, Lr denotes the repositioning distance.

2. The method for generating a safety buffer for a lunar rover movement according to claim 1, wherein, The method further comprises dynamic correction of the repositioning distance based on task data of the lunar rover.

3. The method for generating a safety buffer for lunar rover movement of claim 1, wherein, The combination of the first inflation coefficient and the second inflation coefficient as the third inflation coefficient comprises: The first inflation coefficient is added to the second inflation coefficient to obtain the third inflation coefficient, the third inflation coefficient being: I = Rw+d ( mod ( L,Lr )) ； wherein I represents the third expansion coefficient, Rw represents the first expansion coefficient, d ( mod ( L,Lr ) represents the second expansion coefficient.

4. A safety buffer generation device for a lunar rover movement, characterized by, The device is used to implement the method according to claim 1, and the device comprises: A first coefficient acquisition unit configured to adaptively generate a first inflation coefficient according to a lunar rover self-configuration parameter; A mapping relationship establishment unit configured to establish a mapping relationship between a movement distance parameter and a position deviation; A second coefficient acquisition unit configured to introduce repositioning information as a spatial discretization reference to reconstruct the movement distance parameter, obtain a second inflation coefficient based on the reconstructed movement distance parameter and the mapping relationship, and take the second inflation coefficient as a corrected position deviation; A third coefficient acquisition unit configured to combine the first inflation coefficient and the second inflation coefficient as a third inflation coefficient; A buffer zone generation unit configured to perform geometric expansion on an original obstacle based on the third inflation coefficient to generate a safety buffer zone for lunar rover movement; The first coefficient acquisition unit is specifically configured to: when the deployable mechanism of the lunar rover is in the collapsed state, use the major semi-axis length of the wheel train outer diameter envelope as the first inflation coefficient; and when the deployable mechanism of the lunar rover is in the deployed state, use the major semi-axis length of the maximum vehicle body envelope as the first inflation coefficient; The mapping relationship establishment unit is specifically configured to establish a mapping function of the movement distance parameter and the position deviation: d ( r ) = k ； wherein, d(r) represents a position deviation, k represents a lunar movement coupling coefficient, r represents a movement distance parameter, a represents an error accumulation inflation factor, embodying error amplification caused by slippage or subsidence; The repositioning information is a repositioning distance, and the second coefficient acquisition unit is specifically configured to: The mobile distance parameter is reconstructed based on a relocation distance, and the reconstructed mobile distance parameter is: L' = m od ( L,Lr ) ； wherein, L' denotes the reconfigured movement distance parameter, L denotes the movement distance parameter, Lr denotes the repositioning distance.

5. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the steps of the method of any one of claims 1 to 3 when executing the computer program.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 3.

7. A computer program product comprising computer programs / instructions, characterized in that, The computer program / instructions are executed by the processor to implement the steps of the method of any one of claims 1 to 3.

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