A triticale seed bionic rolling moon surface exploration robot

Abstract

A biomimetic rolling lunar exploration robot inspired by wild oat seeds is proposed. This invention relates to the field of deep space exploration technology and addresses the problems of existing lunar mobile exploration platforms, such as reliance on complex motors and transmission mechanisms, susceptibility to sinking and jamming in loose lunar soil and rugged terrain, decreased reliability due to lunar dust intrusion, and high energy consumption. The proposed solution comprises a biomimetic rolling shell, a sensor cluster, flexible awns, a power battery pack, and a battery mounting frame. The biomimetic rolling shell is an ellipsoidal or seed-shaped closed shell with grooves on its outer surface. The sensor cluster is located at the top, and at least two asymmetrically arranged shape memory alloy flexible awns are located at the bottom. The power battery pack is offset and fixed inside the biomimetic rolling shell via the battery mounting frame, providing power and forming an eccentric load. When heated, the shape memory alloy flexible awns deform, pushing the biomimetic rolling shell to become unstable and roll. This robot is suitable for long-term autonomous rover exploration, environmental monitoring, terrain imaging, and data transmission in complex lunar terrain.

Description

Technical Field

[0001] This relates to the field of deep space exploration technology, specifically to an adaptive rolling lunar exploration robot that mimics the movement mechanism of wild oat seeds and is driven by the coupling of thermal excitation and internal eccentric load of shape memory alloy (SMA). Background Technology

[0002] Lunar rover exploration is a crucial component of deep space exploration missions, primarily used for topographic observation, environmental parameter collection, mineral resource exploration, and extended exploration around the landing site. Existing lunar mobile exploration platforms mostly employ wheeled, tracked, or legged mobility structures. Wheeled lunar rovers are relatively mature, typically adapting to the lunar surface's undulating terrain through multi-wheel independent drive, rocker arm suspension, and differential steering. Tracked platforms increase their ground contact area to reduce ground pressure, improving their ability to traverse soft surfaces. Legged or hopping probes can overcome local obstacles to some extent and are suitable for relocation in complex terrain conditions. While these mobility methods can meet the needs of lunar surface exploration within a certain range, they generally rely on mechanical moving components such as motors, reducers, bearings, transmission links, and wheel-track grounding mechanisms, resulting in a relatively complex system structure and high requirements for control precision, energy supply, and mechanical reliability.

[0003] The lunar surface environment is characterized by low gravity, high vacuum, large temperature differences, strong radiation, and fine, highly adhesive lunar dust particles. Lunar regolith, formed by long-term meteorite impacts, is generally loose, fragmented, and uneven, accompanied by complex micro-topography such as impact craters, scree slopes, gullies, and dune-like deposits. In this environment, while traditional wheeled probes can achieve continuous movement, they are prone to problems such as wheel sinking, slippage, spinning, and reduced climbing ability in the soft lunar regolith. Tracked structures, while improving ground pressure distribution, are susceptible to lunar dust intrusion, leading to wear, jamming, and reduced transmission efficiency over long-term use. Legged or hopping structures, while possessing some obstacle-crossing capabilities, have complex drive and attitude control systems, resulting in significant landing impact and energy consumption, hindering miniaturization, low power consumption, and long-term autonomous exploration.

[0004] To address the challenge of adapting to the complex terrain of the lunar surface, existing research has proposed various biomimetic mobility solutions. For example, some solutions borrow the locomotion of insects, reptiles, or jumping animals, improving obstacle-crossing capabilities through multi-legged support, energy storage and release via bouncing, and flexible leg swinging. Other solutions reduce the number of exposed transmission components by using spherical robots, rolling robots, or passive tumbling structures to improve sealing and maneuverability. These rolling or spherical exploration platforms typically utilize internal pendulums, eccentric wheels, flywheels, motor-driven mass blocks, or magnetic drive mechanisms to change the center of gravity, thereby causing the hull to roll. Although they reduce the number of exposed wheel mechanisms compared to traditional wheeled structures, they still rely on motors, gears, bearings, rails, or complex transmission components internally. Under high vacuum, extreme temperature differences, and lunar dust environments, they may still face problems such as lubrication difficulties, cold welding, mechanical wear, transmission failure, and high energy consumption.

[0005] In recent years, shape memory alloys, flexible actuators, soft robots, and biomimetic seed dispersal mechanisms have been increasingly incorporated into research on mobile platforms for extreme environments. Shape memory alloys can undergo phase transitions and recoverable deformation upon heating, exhibiting advantages such as simple structure, low driving noise, high output force per unit mass, and ease of encapsulation, making them suitable for miniaturized, low-speed, and intermittent actuation scenarios. In nature, plant seeds such as wild oats can roll, flip, or burrow into the soil using the wet-heat response of their awns, asymmetric structures, and surface friction. Their movement does not rely on complex joints and continuous rotation mechanisms, but rather on adaptive displacement formed through external environmental excitation, asymmetric morphology, and gravity. Applying this type of biomimetic motion mechanism to lunar exploration is expected to reduce the number of traditional actuation mechanisms and improve passive adaptability on the soft, rugged lunar surface.

[0006] However, existing lunar mobile exploration platforms still do not fully utilize the biomimetic seed dispersal mechanism. Most biomimetic robots only reach the level of shape imitation or flexible component-assisted drive, failing to form a unified dynamic coupling mechanism for shell morphology, surface meshing structure, internal eccentric load, flexible awn heat excitation, and the low-gravity environment of the moon. Although existing rolling probes can achieve center of gravity transfer through internal eccentric mass blocks, they usually require motors to continuously adjust the position of the eccentric mass, failing to utilize the energy battery pack itself as an eccentric load to participate in motion drive, resulting in insufficient structural compactness and space payload utilization. Although existing soft or SMA drive structures can achieve local deformation, without coordinated design with the shell center of gravity, support points, surface grip structure, and rolling attitude, it is difficult to stably trigger the entire machine to roll by deformation alone, and it is also difficult to achieve directional control and long-term autonomous exploration. At the same time, lunar dust intrusion and extreme temperature differences still pose a long-term reliability threat to traditional open-type, articulated, or exposed transmission-type exploration structures.

[0007] Therefore, how to reduce the number of traditional motors and speed reduction transmission mechanisms while ensuring the airtightness and reliability of the lunar probe, utilize the low gravity of the moon, internal eccentric loads and flexible thermal excitation structures to achieve low-energy rolling movement, and enable the probe to maintain strong adaptive passage capability in complex terrains such as loose lunar soil, rocks and craters, has become an important technical problem that needs to be solved for miniaturized long-term lunar exploration platforms.

[0008] In summary, existing technologies have several drawbacks: lunar mobile exploration platforms rely on complex motors and transmission mechanisms; they are prone to sinking and getting stuck in loose lunar soil and rugged terrain; lunar dust intrusion and extreme environments lead to a decrease in the reliability of moving parts; rolling probes have high energy consumption and insufficient internal space utilization; and biomimetic flexible drives lack effective coupling with eccentric loads and the low gravity environment of the moon. Summary of the Invention

[0009] To address the shortcomings of existing technologies, such as reliance on complex motors and transmission mechanisms for lunar surface mobile exploration platforms, susceptibility to sinking and jamming in loose lunar soil and rugged terrain, decreased reliability of moving parts due to lunar dust intrusion and extreme environments, high energy consumption and insufficient internal space utilization of rolling probes, and lack of effective coupling between biomimetic flexible drive and eccentric loads and the low-gravity lunar environment, the technical solution provided by this invention is as follows: A biomimetic rolling lunar exploration robot inspired by wild oat seeds includes a biomimetic rolling shell, a sensor cluster, flexible awns, a power battery pack, and a battery mounting frame. The biomimetic rolling shell is an ellipsoid or a seed-shaped closed shell. The outer peripheral surface of the biomimetic rolling shell is provided with grooves that are spaced apart along the circumference. The grooves are used to contact the lunar soil and form a rolling engagement. The sensor cluster is disposed on the top of the bionic rolling shell and is used to perceive the lunar environment when the bionic rolling shell is in a state of equilibrium. The flexible awn is disposed at the bottom of the bionic rolling shell. The flexible awn includes at least two asymmetrically arranged shape memory alloy flexible awns. The shape memory alloy flexible awn has a variable cross-section structure that gradually changes from the root to the tip. It is used to abut against the lunar surface and push the bionic rolling shell after being deformed by heat. The battery mounting bracket is located inside the lower part of the bionic rolling shell. The energy battery pack is fixed on the battery mounting bracket and is offset relative to the geometric center of the bionic rolling shell, so that the energy battery pack simultaneously constitutes a power supply component and an eccentric load.

[0010] Furthermore, in a preferred embodiment, the biomimetic rolling shell is made of carbon fiber composite material or high-strength lightweight aluminum alloy, and the outer surface of the biomimetic rolling shell is provided with a dustproof, antistatic and wear-resistant protective layer.

[0011] Furthermore, in a preferred embodiment, the groove is a wavy groove, a curved rib, or a composite structure of concave and convex shapes extending along the generatrix of the bionic rolling shell, and a plurality of the grooves are distributed circumferentially around the bionic rolling shell.

[0012] Furthermore, in a preferred embodiment, the root of the shape memory alloy flexible awn is fixedly connected to the bottom of the bionic rolling shell, the free end of the shape memory alloy flexible awn extends downward and to the side downward of the bionic rolling shell, and at least two of the shape memory alloy flexible awns have different mounting angles, extension lengths, or initial curvatures.

[0013] Furthermore, in a preferred embodiment, the root cross-section of the shape memory alloy flexible awn is a flat semi-circle, ellipse, or flat arc, the middle cross-section gradually shrinks, and the tip cross-section is a dot-shaped, small cylindrical, or conical contact end.

[0014] Furthermore, in a preferred embodiment, the sensor cluster includes one or more of a panoramic imaging unit, an environmental monitoring unit, and a communication unit, and the sensor cluster is provided with a protective cover that is sealed and connected to the bionic rolling shell.

[0015] A method for operating a wild oat seed-inspired rolling lunar exploration robot includes: The steps to acquire attitude data, energy data, and environmental data to determine whether the biomimetic rolling shell has established a low center of gravity static equilibrium attitude; The steps involve controlling the energy storage of the battery pack based on energy and environmental data, and determining the target rolling direction. The steps for determining the thermal excitation objects and thermal excitation parameters of at least two shape memory alloy flexible awns based on the target rolling direction and attitude data; The steps are as follows: Current is output to the shape memory alloy flexible awn according to the thermal excitation object and thermal excitation parameters, so that the shape memory alloy flexible awn is deformed by heat and pushes the bionic rolling shell to become unstable and roll. The steps to determine whether the bionic rolling shell has completed a single roll and re-established a low center of gravity stable attitude based on attitude data; The steps include cutting off the thermal excitation current of the shape memory alloy flexible luminescent material, controlling the cooling and reset of the shape memory alloy flexible luminescent material, and controlling the sensor cluster to perform lunar environment perception and data transmission.

[0016] A computer storage medium for storing a computer program, which, when read by the computer, is executed by the computer using the method described thereon.

[0017] A computer, including a processor and a storage medium, executes the method when the processor reads a computer program stored in the storage medium.

[0018] A computer program product, which, as a computer program, implements the method when the computer program is executed.

[0019] Compared with the prior art, the advantages of the technical solution provided by the present invention are as follows: The ellipsoidal or seed-shaped shell, made of carbon fiber or high-strength lightweight aluminum alloy, gives the rover a rolling shape similar to a wild oat seed. This allows it to roll and move smoothly after becoming unstable under stress, unlike traditional wheeled or tracked lunar rovers which rely on exposed wheels, track links, and continuous rotary transmission mechanisms. This feature reduces the complexity of the overall motion structure and minimizes the risks of lubrication failure, cold welding, and wear caused by bearings, gears, and tracks in the high vacuum, low temperature, and lunar dust environment of the lunar surface. Furthermore, the ellipsoidal or seed-shaped shell is less likely to create fixed jamming points when encountering rocks, craters, or loose lunar soil, providing a stronger ability to roll and escape than conventional wheeled chassis.

[0020] The integrated solar thin-film panels on the outer shell transform it from a mere load-bearing and protective structure into an energy harvesting unit. During lunar daylight hours, the multi-angled sun-receiving surfaces replenish the internal battery pack. This feature improves the utilization efficiency of the limited outer shell area and space payload, reduces the structural burden of additional deployable solar panels or independent power supply supports, and makes the rover more suitable for miniaturization, lightweight design, and long-term low-power exploration. Compared to traditional probes that rely on large solar panels or high-capacity primary batteries, it is more advantageous in maintaining energy replenishment capabilities during rolling attitude changes.

[0021] The circumferential surface of the outer shell features an array of wave-like grooves. These grooves allow the robot to engage with loose lunar regolith through embedding, compression, and shearing, rather than relying solely on friction between the smooth shell and the ground. This feature enhances the grip and directional stability between the shell and the lunar regolith, reducing slippage, spinning, and attitude deviations caused by the looseness of the lunar regolith and insufficient adhesion under low gravity. Compared to ordinary spherical or smooth rolling robots, it can more stably convert the thrust generated by the flexible awns and the gravitational torque generated by eccentric loads into effective displacement.

[0022] The entire outer shell adopts a fully enclosed design without any openings, encapsulating the sensing, control, power, and drive components within the shell to prevent lunar dust from directly entering the internal electronic components and moving parts. This feature reduces the impact of lunar dust erosion, fine particle wear, and electrostatic adhesion on the internal systems from the structural source. It is particularly suitable for the fragmented, sharp, and easily adherent dust environment of the lunar surface. Compared to the structure of traditional wheeled probes with a large number of exposed shafts, seams, and transmission gaps, this design can significantly improve environmental tolerance and reliability during long-term autonomous exploration.

[0023] By fixing the high-density battery pack in a non-central position slightly below the inner shell, the battery pack serves as both a power supply component and an internal eccentric mass block. This feature allows the battery's own mass to create a stable low center of gravity, enabling the robot to automatically return to a low-center-of-gravity static equilibrium posture when stationary. After instability triggered by the flexible awn, the eccentric load generates a gravitational torque to drive the outer shell to continue rolling. This achieves integrated utilization of the energy module and the dynamic attitude adjustment module. Compared to existing rolling robots that rely on independent pendulums, flywheels, or motors to drive the counterweight, this reduces the need for dedicated drive counterweight mechanisms, improving internal space utilization and overall machine compactness.

[0024] The bottom of the outer shell features two asymmetrically arranged flexible awns, giving the rover an asymmetrical grounding and propulsion structure similar to the awns of wild oat seeds. This allows it to generate instantaneous thrust on the lunar surface in slightly different directions during controlled deformation. This feature disrupts the original static balance of the shell by altering the positions and directions of the awns, enabling the rover not only to perform simple rolls but also providing a structural basis for steering and attitude adjustments. Compared to a single push rod or a symmetrical support structure, the asymmetrical awns more easily generate differential drive, making it suitable for low-speed, intermittent, and controllable movement on the complex lunar surface.

[0025] The flexible awn employs a variable cross-section design, with the cross-section smoothly transitioning from a flat, semi-circular shape at the root to a rounded point at the tip, creating a structural stiffness gradient along the length of the awn. This feature allows the flexible awn to provide higher support stiffness at the root and more flexible bending and contact action at the tip during thermal deformation and contact with the lunar surface. This transforms the SMA phase deformation into more effective thrust and attitude disturbance forces. Compared to flexible rods with uniform cross-sections, this variable cross-section structure more closely resembles the differentiated bending characteristics of a natural seed awn, reducing local stress concentration and improving motion stability under repeated thermal excitation.

[0026] The flexible luminescence (SMA) is either built into or made of shape memory alloy, enabling it to undergo a crystal phase change and produce instantaneous bending or curling deformation under thermal excitation. This feature allows for direct deformation drive without motors or gears, utilizing the thermally induced phase change of SMA. Electrical energy is converted into localized mechanical thrust to lift the hull and break the static balance maintained by eccentric loads. Compared to traditional motor-driven structures, this method reduces challenges in rotary transmission, lubrication, and sealing, making it more suitable for lunar vacuum, extreme temperature differences, and low-speed intermittent motion scenarios.

[0027] The intelligent control unit applies electrical thermal excitation to the SMA flexible awn, so that the deformation of the awn is no longer entirely dependent on random environmental changes, but can be controlled and triggered according to movement commands or autonomously planned paths. This feature transforms the passive propagation mechanism of biomimetic seeds into a controllable lunar surface movement mechanism, enabling the robot to enter an unstable rolling state as needed after energy storage equilibrium. By controlling the timing, duration, and excitation intensity of heating, each rolling action can be adjusted. Compared to a purely passive rolling structure, this improves the initiative and repeatability of task execution.

[0028] The control unit applies differentiated thermal excitation to the two flexible awns and adjusts the current pulse width, causing the two awns to generate deformation thrusts of different amplitudes and rhythms. This feature enables the robot to achieve differential steering and straight-line movement control using asymmetric thrust, avoiding the problem of rolling robots only being able to passively move along slopes or random directions. Compared to traditional spherical robots that adjust direction solely through internal eccentric mass blocks, this solution's steering control does not require a complex internal swing mechanism; instead, it directly generates attitude disturbances through the difference in thermal excitation between the two awns, resulting in a simpler structure and lower energy consumption.

[0029] The built-in IMU (Inertial Measurement Unit) monitors the robot's spatial attitude, enabling the control unit to obtain the robot's current rolling attitude, tilt angle changes, and static balance state. This feature provides attitude feedback for the triggering timing of the SMA (Square Motion Assisted Mullion) and differentiated thermal excitation, preventing ineffective pushing, tipping, or energy waste caused by heating under inappropriate attitudes, thereby improving the controllability and directional consistency of the rolling motion. Compared to passive rolling devices without attitude feedback, this solution achieves a linkage between perception and actuation, making it more suitable for autonomous movement on craters, rock edges, and irregular slopes.

[0030] The outer shell integrates an omnidirectional flexible solar cell array, which charges the internal eccentric battery pack, allowing the robot to receive sunlight from different directions and replenish energy during its constantly changing rolling movements. This feature adapts to the non-fixed orientation of the rolling platform's outer shell, reducing reliance on fixed-orientation solar panels or precision solar tracking mechanisms. Simultaneously, it forms a synergistic structure of "external energy harvesting, internal energy storage, and eccentric drive" with the internal eccentric battery pack, better adapting to tumbling motion patterns compared to the fixed planar solar panels of conventional exploration vehicles.

[0031] The system features intelligent thermal management and utilizes a small current to maintain the core battery temperature during the lunar night, enabling the battery pack to maintain basic operation even under the large temperature differences and prolonged low temperatures on the lunar surface. This feature reduces the impact of the extremely low temperatures during the lunar night on battery discharge capacity, control unit startup capability, and SMA thermal excitation response stability. This allows the robot to perform exploration during lunar daytime, maintain low-power standby during the lunar night, and continue operating after light conditions return. Compared to smaller probes lacking thermal management, this is more conducive to long-term autonomous exploration.

[0032] The top sensor cluster integrates a panoramic imaging and environmental monitoring array, enabling the robot to collect lunar surface topography, temperature, and environmental data and transmit them during its stationary equilibrium period. This feature allows the rolling platform to not only move but also conduct scientific exploration and perceive the environment. Because the eccentric load allows the robot to re-establish a stable stationary posture after rolling, the top sensor cluster can complete observations from a relatively stable position. Compared to passive rolling devices that only have movement capabilities, this approach enables a "move to position and then stationary for exploration" mission mode, improving the quality of the acquired data.

[0033] Employing a rolling cycle logic of "energy accumulation, thermal instability, and gravity work," the robot maintains its lowest center of gravity when stationary using eccentric loads, and during movement, relies on the flexible awnings of the SMA (Surface Mount Motor Assembly) to trigger instability. After instability, it completes a roll using the gravitational torque under the low gravity of the moon. This feature transforms continuous drive into intermittent trigger-driven drive; the SMA only needs to provide the instantaneous thrust to break the balance, rather than continuously bearing the propulsion load of the entire machine, thus significantly reducing motion energy consumption. Compared to traditional wheeled lunar rovers that require continuous torque output from motors to overcome rolling resistance, this solution is more in line with the requirements of miniaturization, long-duration missions, and low-power lunar surface exploration.

[0034] The flexible ray cuts off the excitation current after each roll and cools and resets in the low-temperature environment of the lunar surface, allowing the robot to re-enter the next energy storage and balance state after completing one roll. This feature results in a repeatable closed-loop rolling motion, avoiding the problem of being unable to recover its working posture after a single bounce or uncontrollable flip. Simultaneously, the low temperature of the lunar surface accelerates the SMA reset, improving the efficiency of intermittent drive cycles. Compared to mechanisms requiring complex reset springs or reverse motor drives, the structure is simpler, and the reset process is more suitable for the characteristics of the lunar environment.

[0035] The probe employs a closed-loop logic of "energy storage, unstable tumbling, and stationary exploration" for long-term autonomous lunar surface exploration, organizing movement, attitude stabilization, data acquisition, and energy management into a periodic process. This feature allows the robot to naturally stabilize after rolling into position using eccentric loads, reducing attitude swaying during imaging and environmental monitoring. During its stationary phase, it completes energy harvesting, exploration, and communication before entering the next controlled roll. Compared to continuously moving lunar rovers, this approach is more suitable for low-speed, large-area, multi-point long-term lunar surface roving missions, balancing energy consumption, reliability, and exploration effectiveness.

[0036] It is suitable for long-term autonomous exploration, environmental monitoring, landform imaging, and lunar surface sample collection in complex terrains such as loose lunar soil, craters, and rocky slopes on the lunar surface. Attached Figure Description

[0037] Figure 1 A front view of the lunar exploration robot; Figure 2 A top view of the lunar exploration robot; Figure 3 A perspective view of the lunar exploration robot; Figure 4 A flowchart illustrating the workflow of a lunar exploration robot; Among them, 1 is the sensor cluster, 2 is the groove, 3 is the flexible awn, 4 is the energy battery pack, and 5 is the battery mounting bracket. Detailed Implementation

[0038] To make the advantages and benefits of the technical solution provided by the present invention clearer, the technical solution provided by the present invention will now be described in further detail with reference to the accompanying drawings, specifically: Implementation Method 1: This implementation method provides a biomimetic rolling lunar exploration robot inspired by wild oat seeds, including a biomimetic rolling shell, a sensor cluster, flexible awns, a power battery pack, and a battery mounting frame; The biomimetic rolling shell is an ellipsoid or a seed-shaped closed shell. The outer peripheral surface of the biomimetic rolling shell is provided with grooves that are spaced apart along the circumference. The grooves are used to contact the lunar soil and form a rolling engagement. The sensor cluster is disposed on the top of the bionic rolling shell and is used to perceive the lunar environment when the bionic rolling shell is in a state of equilibrium. The flexible awn is disposed at the bottom of the bionic rolling shell. The flexible awn includes at least two asymmetrically arranged shape memory alloy flexible awns. The shape memory alloy flexible awn has a variable cross-section structure that gradually changes from the root to the tip. It is used to abut against the lunar surface and push the bionic rolling shell after being deformed by heat. The battery mounting bracket is located inside the lower part of the bionic rolling shell. The energy battery pack is fixed on the battery mounting bracket and is offset relative to the geometric center of the bionic rolling shell, so that the energy battery pack simultaneously constitutes a power supply component and an eccentric load.

[0039] The biomimetic rolling shell is made of carbon fiber composite material or high-strength lightweight aluminum alloy, and the outer surface of the biomimetic rolling shell is provided with a dustproof, antistatic and wear-resistant protective layer.

[0040] The grooves are wavy grooves, curved ribs, or concave-convex composite structures extending along the generatrix direction of the bionic rolling shell, and multiple grooves are distributed circumferentially around the bionic rolling shell.

[0041] The root of the shape memory alloy flexible awn is fixedly connected to the bottom of the bionic rolling shell, and the free end of the shape memory alloy flexible awn extends downward and to the side downward of the bionic rolling shell. At least two of the shape memory alloy flexible awns have different installation angles, extension lengths or initial curvatures.

[0042] The root cross-section of the shape memory alloy flexible awn is a flat semi-circle, ellipse or flat arc, the middle cross-section gradually shrinks, and the tip cross-section is a dot-shaped, small cylindrical or conical contact end.

[0043] The sensor cluster includes one or more of a panoramic imaging unit, an environmental monitoring unit, and a communication unit, and the sensor cluster is provided with a protective cover that is sealed and connected to the bionic rolling shell.

[0044] A method for operating a wild oat seed-inspired rolling lunar exploration robot includes: The steps to acquire attitude data, energy data, and environmental data to determine whether the biomimetic rolling shell has established a low center of gravity static equilibrium attitude; The steps involve controlling the energy storage of the battery pack based on energy and environmental data, and determining the target rolling direction. The steps for determining the thermal excitation objects and thermal excitation parameters of at least two shape memory alloy flexible awns based on the target rolling direction and attitude data; The steps are as follows: Current is output to the shape memory alloy flexible awn according to the thermal excitation object and thermal excitation parameters, so that the shape memory alloy flexible awn is deformed by heat and pushes the bionic rolling shell to become unstable and roll. The steps to determine whether the bionic rolling shell has completed a single roll and re-established a low center of gravity stable attitude based on attitude data; The steps include cutting off the thermal excitation current of the shape memory alloy flexible luminescent material, controlling the cooling and reset of the shape memory alloy flexible luminescent material, and controlling the sensor cluster to perform lunar environment perception and data transmission.

[0045] A computer storage medium for storing a computer program, which, when read by the computer, is executed by the computer using the method described thereon.

[0046] A computer, including a processor and a storage medium, executes the method when the processor reads a computer program stored in the storage medium.

[0047] A computer program product, which, as a computer program, implements the method when the computer program is executed.

[0048] Implementation Method Two: This implementation method is a further detailed description of the technical solution provided in Implementation Method One, specifically: Figure 1 This is a front view of the lunar exploration robot. Figure 2 This is a top view of the lunar exploration robot. Figure 3 This is a perspective view of the lunar exploration robot; 1 is the sensor cluster, 2 is the groove, 3 is the flexible awn, 4 is the energy battery pack, and 5 is the battery mounting bracket.

[0049] like Figures 1 to 3 As shown, this embodiment provides a wild oat seed-inspired rolling lunar exploration robot. Its overall shape is an ellipsoid or an asymmetrical seed-shaped structure resembling a wild oat seed. The outer shell serves as the robot's main support structure, with a sealed cavity inside. A sensor cluster 1 is mounted on the top of the shell, grooves 2 are formed on the circumferential surface, and flexible awns 3 are located on the bottom. A battery pack 4 is positioned slightly below the interior of the shell and mounted on a battery holder 5. This robot utilizes the seed-like rolling shape of the outer shell, the lunar soil-engaging structure of the grooves 2, the thermal deformation and pushing structure of the flexible awns 3, and the eccentric arrangement of the battery pack 4 to form a biomimetic rolling structure, enabling the robot to perform intermittent rolling movements on complex terrains such as loose lunar soil, gravel slopes, and crater edges.

[0050] The outer shell is made of carbon fiber composite material, high-strength lightweight aluminum alloy, or other lightweight materials that are resistant to low temperatures and radiation. The overall shape of the shell is ellipsoidal, near-ellipsoidal, or a seed-like shell that is slightly tapered at one end. The outer contour of the shell does not have exposed wheels, tracks, axles, or gear transmission structures, allowing the shell to continuously rotate on its own curved surface after being pushed by the flexible ray 3. The shell wall thickness is determined based on the overall strength, internal space, and mass distribution requirements. The inner wall of the shell may be reinforced with ribs, reinforcing rings, or locally thickened areas to improve the shell's resistance to deformation under rolling impact, landing contact, and lunar soil compression. The outer surface of the shell may be covered with a dustproof, antistatic, and wear-resistant coating to reduce lunar dust adhesion and improve surface wear resistance during long-term rolling contact.

[0051] The outer shell adopts a fully enclosed structure. Except for necessary sealed connection areas, no open channels are formed on the shell surface that directly communicate with the internal cavity. The shell can be formed by sealingly connecting an upper shell and a lower shell, or it can be formed by a one-piece molded shell and a partial assembly port sealing cover. A sealing ring, metal sealing edge, or composite sealing layer is provided between the upper shell and the lower shell. After assembly, it is fixed by screwing, snapping, welding, bonding, or flange compression, thus isolating the sensing, control, and energy components from the external lunar dust environment. This fully enclosed shell structure can prevent lunar dust from entering the internal cavity and reduce the corrosion of lunar dust on the energy battery pack 4, control components, wiring connectors, and flexible light 3 drive connection parts.

[0052] Sensor cluster 1 is mounted on a protruding mounting section on or near the top of the outer shell. Sensor cluster 1 includes one or more of the following: a panoramic imaging unit, an environmental monitoring unit, and a communication unit. The panoramic imaging unit can be used to acquire images of the lunar surface topography, obstacles, and surrounding environment. The environmental monitoring unit can be used to acquire data related to temperature, illumination, dust, or radiation. The communication unit can be used to transmit data with the lander, relay equipment, or other exploration equipment. A transparent or cryogenic protective cover is provided externally for sensor cluster 1. The protective cover is sealed to the top of the outer shell. The shape of the protective cover is preferably dome-shaped, hemispherical, or streamlined to reduce the risk of damage from collisions with external objects during rolling. Sensor cluster 1 is electrically connected to the control unit inside the outer shell and is connected to the power battery pack 4 via internal wiring.

[0053] The grooves 2 are arrayed along the circumferential surface of the outer shell. The grooves 2 can be wavy grooves, arc-shaped ribs, curved ribs, or a composite structure extending along the generatrix of the outer shell. Figure 1 The middle extends in a curved manner along the height direction of the outer shell, in Figure 2 The grooves 2 are arranged circumferentially around the outer shell, allowing the shell to contact the lunar regolith through the grooves 2 under different rolling postures. The extension direction of the grooves 2 can be inclined or curved relative to the rolling direction of the outer shell, so as to provide guidance and lateral restraint when rolling into contact with the lunar regolith. The depth, width, and spacing of the grooves 2 are set according to the size of the lunar regolith particles, the diameter of the outer shell, and the overall mass of the machine. The edges of the grooves 2 can be rounded or have a buffer transition surface to avoid stress concentration and reduce rolling wear.

[0054] The groove 2 can be formed integrally with the outer shell, or it can be formed by fixing wear-resistant strips, elastic inserts, or composite material ribs to the surface of the outer shell. When the groove 2 is a concave structure, the recessed area of ​​the groove 2 can accommodate some lunar soil particles when in contact with loose lunar soil, so that the lunar soil forms a local fit within the groove 2; when the groove 2 is a convex rib structure, the convex rib can press into the surface of the lunar soil and generate shear resistance. Through this structure, when the robot rolls under the pushing of the flexible awn 3 and the action of eccentric load, the groove 2 can increase the grip between the outer shell and the lunar soil, reducing the possibility of the smooth shell slipping, lateral deviation, or ineffective rolling on the low-gravity loose lunar soil.

[0055] The flexible awn 3 is located at the bottom of the outer shell, and includes at least two flexible awns 3 arranged asymmetrically with respect to the center of the bottom of the outer shell. The roots of the flexible awns 3 are fixedly connected to the bottom of the outer shell, and the free ends of the flexible awns 3 extend downward and to the lower side of the outer shell. The two flexible awns 3 can have different bending directions, different extension lengths, different installation angles, or different initial curvatures to form a differential propulsion structure similar to that of wild oat seeds. The roots of the flexible awns 3 can be connected to the bottom of the outer shell through an embedded fixing seat, a clamping seat, a threaded connection seat, or an adhesive fixing seat. A sealing structure is provided at the connection to prevent dust from entering the interior of the outer shell along the roots of the flexible awns 3.

[0056] The flexible luminary 3 employs a variable cross-section structure, with its cross-section gradually changing from the root near the bottom of the outer shell to the tip further away. The root cross-section can be a flat semi-circle, ellipse, or flat arc to improve root support strength and bending stiffness; the middle cross-section gradually narrows and forms a flexible bending section; the tip cross-section can gradually transition into a dot-shaped, small cylindrical, or conical contact end to concentrate the thrusting force upon contact with the lunar surface. This variable cross-section structure allows the flexible luminary 3 to bend or curl from the lower stiffness region during thermal deformation, while the root provides supporting reaction force, thus converting shape change into mechanical thrust on the lunar surface.

[0057] The flexible luminary 3 incorporates shape memory alloy wires, sheets, or a skeleton, or can be entirely made of shape memory alloy. The shape memory alloy actuator is positioned along the length of the flexible luminary 3 and is electrically connected to the control unit inside the outer shell. The flexible luminary 3 can be covered with a low-temperature resistant insulation layer, a wear-resistant protective layer, or a flexible composite covering layer to prevent the shape memory alloy actuator from being directly exposed to the lunar environment. When the control unit outputs current to the shape memory alloy actuator inside the flexible luminary 3, the actuator undergoes a phase change upon heating, causing the flexible luminary 3 to bend, curl, or change its curvature, causing the tip of the flexible luminary 3 to press against the lunar surface and lift the bottom of the outer shell.

[0058] The two flexible awns 3 can be controlled independently, each equipped with an independent electrical connection line and thermal excitation control channel. The control unit can change the energizing duration, energizing intensity, and triggering sequence of the two flexible awns 3 to produce the same or different deformation amplitudes. When the two flexible awns 3 are heated synchronously and produce similar pushing forces, the robot can form a movement trend mainly characterized by straight-line rolling; when the two flexible awns 3 are heated to different degrees or have different triggering sequences, the robot can form a yaw rolling or differential turning trend. This structure avoids the complex construction that relies solely on the internal motor swinging counterweight for steering, allowing directional control to be achieved through the differentiated deformation of the flexible awns 3.

[0059] The energy battery pack 4 is located inside the lower part of the outer shell and offset relative to the geometric center of the outer shell. The energy battery pack 4 can be composed of multiple battery cells, battery modules, or energy storage components, and the overall structure is block-shaped, arc-shaped block-shaped, or a combined modular structure. The energy battery pack 4 is used to power the control unit, sensor cluster 1, communication unit, and flexible sprocket 3, and also participates in robot posture stabilization and rolling drive as an internal eccentric mass block. Because the energy battery pack 4 is located inside the lower part of the outer shell, when the robot is stationary, the energy battery pack 4 can make the center of gravity of the whole machine tend to be lower, so that the outer shell can automatically return to a stable dwelling posture; when the flexible sprocket 3 lifts the outer shell and breaks the static balance, the energy battery pack 4 forms an offset gravity force relative to the support point, causing the outer shell to continue rolling to the next stable posture.

[0060] The battery mounting bracket 5 is located inside the housing and fixed to the inner wall of the housing or the internal reinforcing structure. The battery mounting bracket 5 supports, limits, and secures the energy battery pack 4, ensuring its stable position during rolling impacts and attitude changes. The battery mounting bracket 5 can be a tray-type bracket, frame-type bracket, arc-shaped bracket, or a composite structure of plate and frame. Its bottom is connected to the inner wall of the housing, and its upper part is equipped with battery limiting grooves, clamping components, buffer pads, or fasteners. After the energy battery pack 4 is installed on the battery mounting bracket 5, it is secured by clamping plates, straps, screws, or potting materials to prevent displacement of the energy battery pack 4 during the rolling of the housing and ensure stable position under eccentric loads.

[0061] The battery holder 5 is positioned below the geometric center of the outer shell, and preferably near the bottom inner wall of the outer shell. A heat insulation layer, a buffer layer, or a thermally conductive and temperature-regulating layer can be installed between the battery holder 5 and the bottom of the outer shell to ensure the energy battery pack 4 maintains a relatively stable working state under the low temperatures and rolling impacts of the lunar surface. A wiring fixing structure can also be installed on the battery holder 5 to organize the electrical connection harnesses between the energy battery pack 4 and the control unit, sensor cluster 1, and flexible radiant 3, preventing the harnesses from swinging, wearing, or pulling out during rolling. The rigid limiting and buffering protection provided by the battery holder 5 ensures that the robot maintains its predetermined center of gravity position and power supply stability even after multiple rolls.

[0062] An omnidirectional flexible solar cell array can also be installed on the outer shell surface. This array can be attached between the grooves 2 on the outer shell surface or cover non-contact wear areas. The solar cell array is electrically connected to the power battery pack 4 for charging the power battery pack 4 during lunar daylight hours. Since the robot uses a rolling movement method, the orientation of the outer shell changes continuously with tumbling. The omnidirectional flexible solar cell array enables the robot to generate electricity from sunlight in different stationary postures. The surface of the solar cell array can be covered with a transparent, wear-resistant protective layer to reduce damage from lunar dust, debris, and rolling friction.

[0063] The outer shell also houses a control unit, an attitude detection unit, and a thermal management unit. The attitude detection unit, which can employ an IMU (Inertial Measurement Unit), detects the robot's attitude, tilt angle, angular velocity, and rolling state. Based on the attitude data acquired by the attitude detection unit, the control unit determines whether the robot is in a stable dwelling posture, a posture awaiting a roll, or a posture that has completed rolling, and outputs a thermal excitation control signal to the flexible spool 3. The thermal management unit is electrically connected to the energy battery pack 4 and the flexible spool 3, and is used to provide micro-current insulation for the energy battery pack 4 during lunar nights or in low-temperature environments. It also facilitates cooling and resetting in conjunction with the low-temperature lunar environment after the flexible spool 3 completes its thermal excitation.

[0064] In this embodiment, the robot's energy battery pack 4 is fixed to the lower part of the outer shell via a battery mounting bracket 5, allowing the robot to naturally adjust to an initial static equilibrium posture with a low center of gravity under the influence of lunar gravity after release. When movement is required, the control unit outputs current to one or two flexible awns 3 based on the posture detection results. The flexible awns 3, upon heating, bend or curl, their tips contacting the lunar surface and applying a pushing force to the bottom of the outer shell. This pushing force breaks the low center of gravity static equilibrium formed by the energy battery pack 4, causing the outer shell to be lifted and pass the critical support position. Subsequently, the eccentrically positioned energy battery pack 4, under the influence of lunar gravity, causes the outer shell to continue rolling. The grooves 2 on the outer shell surface engage with the lunar soil, providing grip resistance and rolling guidance, allowing the robot to complete a controlled roll.

[0065] After a roll is completed, the control unit cuts off the thermal excitation current of the flexible ray 3. The flexible ray 3 gradually cools in the low-temperature environment of the lunar surface and returns to its initial shape or near-initial shape. The energy battery pack 4 then guides the robot to establish a new low-center-of-gravity stable posture. In this stable posture, the robot collects surrounding terrain and environmental data through sensor cluster 1 and transmits the data back via the communication unit. By repeating the above-mentioned process consisting of low-center-of-gravity energy storage, thermal excitation instability of the flexible ray 3, gravity-driven roll under eccentric load, meshing guidance of groove 2, and stationary detection, the robot can perform long-term autonomous exploration missions in the complex lunar environment with low energy consumption, few transmission components, and strong sealing.

[0066] In the specific workflow: After landing and release on the lunar surface, the lunar exploration robot detaches from the lander or release mechanism and contacts the lunar surface. Under the influence of lunar gravity, the outer shell enters a state of free adjustment. Since the energy battery pack 4 is fixed inside the outer shell slightly below the surface by the battery mounting bracket 5, the center of gravity of the entire robot is offset relative to the geometric center of the outer shell. During the brief swinging or rolling process after release, the robot automatically seeks a low center of gravity posture and eventually aligns the flexible ray 3 towards or close to the lunar surface. The sensor cluster 1 is in a relatively upward detectable position, providing a stable initial state for subsequent power supply startup and attitude determination.

[0067] After initial equilibrium is established, the solar thin-film panels or omnidirectional flexible solar cell arrays on the outer shell surface begin to receive lunar sunlight and convert the sunlight energy into electrical energy, which is then input into the energy battery pack 4. During the charging process, the energy battery pack 4 provides startup power to the control unit, attitude detection unit, sensor cluster 1, and the thermal excitation control channel of flexible light 3. The control unit completes a power-on self-test, the attitude detection unit collects information on the current tilt angle, rolling direction, and stationary state, and the sensor cluster 1 collects information on ambient light, temperature, and terrain, thereby forming initial working data that can be used to determine whether to enter a moving mission.

[0068] During standby, the control unit determines whether the robot meets the conditions for performing rolling movement based on the power level of the energy battery pack 4, the solar energy input status, the posture detection results, and the current environmental data. If the energy is insufficient, the posture is unstable, or the external environment is unsuitable for movement, the robot remains stationary and continuously replenishes power through the solar thin-film panel, while the thermal management unit maintains the appropriate operating temperature of the energy battery pack 4. If the energy status, posture status, and task conditions meet the requirements, the control unit uses the current stable posture and available power as inputs for the next stage of movement control.

[0069] Upon receiving ground commands or autonomous path planning results, the control unit determines the target direction, rolling distance, or attitude adjustment direction for this rolling maneuver. Ground commands can originate from the lander, relay equipment, or a remote control terminal. Autonomous path planning results can be generated from terrain images, obstacle information, slope direction, and passable area information collected by sensor cluster 1. The control unit compares the target direction with the current attitude obtained by the attitude detection unit to determine the number of flexible ray 3 to be excited, the excitation sequence of the left and right flexible ray 3, and the corresponding current pulse width, thus converting the movement commands into executable thermal excitation control parameters.

[0070] After determining the thermal excitation control parameters, the control unit outputs current to the SMA drive component built into or formed within the flexible awn 3, thereby controlling the heating of the corresponding flexible awn 3. For situations requiring linear rolling, the control unit can heat the two flexible awns 3 synchronously or nearly synchronously, resulting in a relatively balanced pushing force. For situations requiring steering or correction, the control unit can prioritize heating one side of the flexible awn 3, or heat the two flexible awns 3 with different current intensities and energizing times, thus creating pushing forces of different directions and magnitudes. This stage uses the thermal excitation control parameters determined in the previous stage as input and outputs the thermal deformation trend of the flexible awn 3.

[0071] Upon heating, the flexible awn 3 undergoes a thermally induced phase transition in the SMA drive component, causing it to bend, curl, or change curvature. Due to its variable cross-section structure, the flexible awn 3 possesses high support strength at its root and strong deformation capacity at its middle and tip. Therefore, it can deform towards the lunar surface using its root as support, while its tip forms contact with lunar regolith, rock surfaces, or other contact surfaces. The asymmetrical arrangement and differentiated heating states of the two flexible awns result in inconsistent output pushing forces, creating attitude disturbances at the bottom of the outer shell that disrupt static equilibrium. This stage uses the thermal deformation trend from the previous stage as input and outputs a mechanical pushing effect on the bottom of the outer shell.

[0072] After the flexible ray 3 generates a mechanical pushing effect, the bottom of the outer shell is lifted, breaking the low center of gravity static balance formed by the energy battery pack 4. The center of gravity of the entire machine rises and shifts relative to the current support point. When the center of gravity crosses the critical support position, the eccentrically positioned energy battery pack 4 tends to continue to roll under the influence of lunar gravity, and the outer shell enters a rolling state from a controlled unstable state. At this time, the flexible ray 3 does not need to continuously bear the load of the entire machine's movement, but is mainly used to trigger instability and provide initial attitude disturbance; subsequent rolling mainly relies on the eccentric load to drive the outer shell to roll under the influence of lunar gravity. This stage takes the mechanical pushing effect output from the previous stage as input and outputs a continuously rolling unstable attitude.

[0073] After the outer shell enters the rolling state, the grooves 2 contact the lunar regolith and engage in interlocking, compression, and shearing, providing the outer shell with grip resistance and rolling guidance during the rolling process. The grooves 2 limit lateral slippage of the outer shell on the loose lunar regolith surface, converting the unstable posture formed in the previous stage into effective rolling displacement. If the control unit detects a posture deviation or a deviation between the rolling direction and the target direction during rolling, it can adjust the excitation strategy of the flexible ray 3 based on the data fed back by the posture detection unit, without needing to continuously drive it during the current rolling process. This stage uses the unstable posture output from the previous stage as input and outputs a controlled rolling displacement and a new landing posture.

[0074] After rolling into position, the control unit determines whether the robot has completed a single rolling motion based on the angular velocity, tilt angle change, and stable state obtained by the attitude detection unit. When it detects that the outer shell has stopped rolling or is approaching a new stable posture, the control unit cuts off the thermal excitation current of the flexible sprocket 3, stopping the continued heating to the SMA drive component to avoid energy waste and overheating of the flexible sprocket 3. At this time, the energy battery pack 4 tends to return to a lower position under the new posture, and the robot gradually enters a new dwelling equilibrium state from the rolling state. This stage takes the controlled rolling displacement output from the previous stage and the new landing posture as inputs, and outputs the reset state after the excitation stops.

[0075] During the cooling and reset cycle, the flexible ray 3 gradually cools down under the low temperature environment of the lunar surface and its own heat dissipation. The SMA drive component recovers from the heated deformation state to its initial shape or close to its initial shape, and the flexible ray 3 regains its ability to undergo the next thermal excitation deformation. During the cooling and reset of the flexible ray 3, the control unit acquires the power of the energy battery pack 4, the reset state of the flexible ray 3, and the robot's attitude stability state, and performs dwell detection, terrain imaging, environmental data acquisition, and communication feedback through the sensor cluster 1. When the previous cooling and reset is completed, and the energy state and attitude state meet the movement conditions again, the robot re-enters the energy storage standby stage and executes the next rolling cycle according to new ground commands or autonomous path planning results.

[0076] The above description of several specific embodiments further details the technical solution provided by the present invention in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the above-described specific embodiments are not intended to limit the present invention. Any reasonable modifications and improvements to the present invention, combinations of embodiments, and equivalent substitutions based on the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wild oat seed-inspired rolling lunar exploration robot, characterized in that, Includes a biomimetic rolling shell, sensor clusters, flexible awns, energy battery packs, and battery mounting brackets; The biomimetic rolling shell is an ellipsoid or a seed-shaped closed shell. The outer peripheral surface of the biomimetic rolling shell is provided with grooves that are spaced apart along the circumference. The grooves are used to contact the lunar soil and form a rolling engagement. The sensor cluster is disposed on the top of the bionic rolling shell and is used to perceive the lunar environment when the bionic rolling shell is in a state of equilibrium. The flexible awn is disposed at the bottom of the bionic rolling shell. The flexible awn includes at least two asymmetrically arranged shape memory alloy flexible awns. The shape memory alloy flexible awn has a variable cross-section structure that gradually changes from the root to the tip. It is used to abut against the lunar surface and push the bionic rolling shell after being deformed by heat. The battery mounting bracket is located inside the lower part of the bionic rolling shell. The energy battery pack is fixed on the battery mounting bracket and is offset relative to the geometric center of the bionic rolling shell, so that the energy battery pack simultaneously constitutes a power supply component and an eccentric load.

2. The wild oat seed-inspired rolling lunar exploration robot according to claim 1, characterized in that, The biomimetic rolling shell is made of carbon fiber composite material or high-strength lightweight aluminum alloy, and the outer surface of the biomimetic rolling shell is provided with a dustproof, antistatic and wear-resistant protective layer.

3. The wild oat seed-inspired rolling lunar exploration robot according to claim 1, characterized in that, The grooves are wavy grooves, curved ribs, or concave-convex composite structures extending along the generatrix direction of the bionic rolling shell, and multiple grooves are distributed circumferentially around the bionic rolling shell.

4. The wild oat seed-inspired rolling lunar exploration robot according to claim 1, characterized in that, The root of the shape memory alloy flexible awn is fixedly connected to the bottom of the bionic rolling shell, and the free end of the shape memory alloy flexible awn extends downward and to the side downward of the bionic rolling shell. At least two of the shape memory alloy flexible awns have different installation angles, extension lengths or initial curvatures.

5. The wild oat seed-inspired rolling lunar exploration robot according to claim 1, characterized in that, The root cross-section of the shape memory alloy flexible awn is a flat semi-circle, ellipse or flat arc, the middle cross-section gradually shrinks, and the tip cross-section is a dot-shaped, small cylindrical or conical contact end.

6. The wild oat seed-inspired rolling lunar exploration robot according to claim 1, characterized in that, The sensor cluster includes one or more of a panoramic imaging unit, an environmental monitoring unit, and a communication unit, and the sensor cluster is provided with a protective cover that is sealed and connected to the bionic rolling shell.

7. A method for operating a wild oat seed-inspired rolling lunar exploration robot, characterized in that, include: The steps to acquire attitude data, energy data, and environmental data to determine whether the biomimetic rolling shell has established a low center of gravity static equilibrium attitude; The steps involve controlling the energy storage of the battery pack based on energy and environmental data, and determining the target rolling direction. The steps for determining the thermal excitation objects and thermal excitation parameters of at least two shape memory alloy flexible awns based on the target rolling direction and attitude data; The steps are as follows: Current is output to the shape memory alloy flexible awn according to the thermal excitation object and thermal excitation parameters, so that the shape memory alloy flexible awn is deformed by heat and pushes the bionic rolling shell to become unstable and roll. The steps to determine whether the bionic rolling shell has completed a single roll and re-established a low center of gravity stable attitude based on attitude data; The steps include cutting off the thermal excitation current of the shape memory alloy flexible luminescent material, controlling the cooling and reset of the shape memory alloy flexible luminescent material, and controlling the sensor cluster to perform lunar environment perception and data transmission.

8. A computer storage medium for storing computer programs, characterized in that, When the computer program is read by the computer, the computer executes the method of claim 7.

9. A computer, comprising a processor and a storage medium, characterized in that, When the processor reads the computer program stored in the storage medium, the computer executes the method of claim 7.

10. A computer program product, as a computer program, is characterized by: When the computer program is executed, it implements the method of claim 7.

Images