CN113722901B - Method and device for processing constraint conditions of lunar surface inspection device - Google Patents
Method and device for processing constraint conditions of lunar surface inspection device Download PDFInfo
- Publication number
- CN113722901B CN113722901B CN202110963716.1A CN202110963716A CN113722901B CN 113722901 B CN113722901 B CN 113722901B CN 202110963716 A CN202110963716 A CN 202110963716A CN 113722901 B CN113722901 B CN 113722901B
- Authority
- CN
- China
- Prior art keywords
- constraint
- time
- type
- processing
- situation map
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012545 processing Methods 0.000 title claims abstract description 56
- 238000007689 inspection Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 29
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 claims abstract description 47
- 238000007781 pre-processing Methods 0.000 claims abstract description 10
- 238000004458 analytical method Methods 0.000 claims description 38
- 241001061260 Emmelichthys struhsakeri Species 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 16
- 238000010606 normalization Methods 0.000 claims description 9
- 238000010276 construction Methods 0.000 claims description 8
- 238000003672 processing method Methods 0.000 claims description 8
- 206010020751 Hypersensitivity Diseases 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000003086 colorant Substances 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 description 19
- 230000008447 perception Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000006399 behavior Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2111/00—Details relating to CAD techniques
- G06F2111/04—Constraint-based CAD
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Human Resources & Organizations (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Economics (AREA)
- Entrepreneurship & Innovation (AREA)
- General Physics & Mathematics (AREA)
- Strategic Management (AREA)
- Educational Administration (AREA)
- Operations Research (AREA)
- Quality & Reliability (AREA)
- Tourism & Hospitality (AREA)
- Marketing (AREA)
- General Business, Economics & Management (AREA)
- Game Theory and Decision Science (AREA)
- Development Economics (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention discloses a method and a device for processing constraint conditions of a lunar surface inspection device. Wherein the method comprises the following steps: determining at least one type of constraint condition of the lunar surface inspection device, and preprocessing the at least one type of constraint condition of the lunar surface inspection device so that the processed at least one type of constraint condition is characterized under the same scale by a state quantity; constructing a full moon day multi-constraint time-varying situation map based on the processed constraint conditions, wherein the full moon day multi-constraint time-varying situation map is used for providing constraint guidance for the lunar surface inspection device. The invention solves the technical problem that the prior art cannot efficiently integrate various time-varying constraints in the lunar surface work of the inspection device so as to guide the whole lunar diurnal work planning.
Description
Technical Field
The invention relates to the field of aviation, in particular to a method and a device for processing constraint conditions of a lunar surface inspection device.
Background
The reasonable and effective task planning is the basis for realizing the safe and efficient inspection and detection task, and the task target design and realization are generally realized by adopting a layered planning technology in the extraterrestrial celestial body inspection and detection task planning. The inspection device has many lunar surface working constraint conditions and time-varying data, various behaviors of the inspection device are closely related to the constraint conditions, constraint feasibility can not be accurately calculated and analyzed, and lunar surface working can not be effectively planned. Therefore, how to efficiently integrate multiple types of constraints to guide the whole month day work planning is a problem to be solved.
Aiming at the problem of how to efficiently integrate various time-varying constraints in the lunar surface work of the patrol device and guide the whole lunar day work planning, no effective solution is proposed at present.
Disclosure of Invention
The embodiment of the invention provides a method and a device for processing constraint conditions of a lunar surface inspection device, which at least solve the technical problem that the prior art cannot efficiently integrate various time-varying constraints in lunar surface work of the inspection device so as to guide whole lunar diurnal work planning.
According to an aspect of the embodiment of the invention, there is provided a method for processing constraint conditions of a lunar rover, including: determining at least one type of constraint condition of the lunar surface inspection device, and preprocessing the at least one type of constraint condition of the lunar surface inspection device so that the processed at least one type of constraint condition is characterized under the same scale by a state quantity; constructing a full moon day multi-constraint time-varying situation map based on the processed constraint conditions, wherein the full moon day multi-constraint time-varying situation map is used for providing constraint guidance for the lunar surface inspection device.
Optionally, the constraint includes at least any one of: sun altitude, sun azimuth, relay altitude, earth altitude, relay azimuth, earth azimuth, hypersensitive visibility, sun-to-day orientation, data transmission visibility, omni-directional visibility, perceived feasibility, detection feasibility.
Optionally, preprocessing at least one kind of constraint condition of the lunar surface inspection device includes: and performing constraint formalization processing and result normalization processing on the at least one type of constraint condition.
Optionally, the constraint condition subjected to constraint formalization is characterized by a car body course angle interval.
Optionally, constructing a full moon day multi-constraint time-varying situation map based on the processed constraint conditions includes: determining an analysis mode and analysis time of the at least one type of constraint conditions, wherein the analysis mode is used for indicating the at least one type of constraint conditions to analyze by adopting a target formula pair in a set theory model; determining data to be analyzed of the at least one type of constraint conditions in the analysis time, and adopting the target formula to calculate the data to be analyzed to obtain an analysis result; and constructing a full moon day multi-constraint time-varying situation map based on the analysis result.
Optionally, constructing a full moon day multi-constraint time-varying situation map based on the analysis result includes: determining a graphical style of the full moon day multi-constraint time-varying situation map, wherein the graphical style comprises at least any one of: display colors of various constraint conditions and display transparency of various constraint conditions; and constructing a full moon day multi-constraint time-varying situation map based on the analysis result and the graph style, wherein the full moon day multi-constraint time-varying situation map is expressed in the form of a two-dimensional Cartesian coordinate map.
According to another aspect of the embodiment of the present invention, there is also provided a device for processing constraint conditions of a lunar surface inspection device, including: the processing unit is used for determining at least one type of constraint condition of the lunar surface inspection device, and preprocessing the at least one type of constraint condition of the lunar surface inspection device so that the processed at least one type of constraint condition is characterized under the same scale by a state quantity; the construction unit is used for constructing a full moon day multi-constraint time-varying situation map based on the processed constraint conditions, wherein the full moon day multi-constraint time-varying situation map is used for providing constraint guidance for the lunar surface patrol machine.
Optionally, the processing unit further includes: and the processing subunit is used for carrying out constraint formalization processing and result normalization processing on the at least one type of constraint conditions, wherein the constraint conditions subjected to the constraint formalization processing are represented by a car body course angle interval.
According to another aspect of the present application, there is provided a storage medium including a stored program, wherein the program executes the processing method of the lunar rover constraint condition described in any one of the above.
According to another aspect of the present application, there is provided a processor for running a program, wherein the program runs to execute the method for processing the lunar rover constraint condition described in any one of the above.
In other words, the processing method of the lunar rover constraint condition provided by the invention is a lunar diurnal multi-class constraint time-varying situation map construction method for the lunar rover inspection and detection task. The method mainly comprises the steps of formalizing various constraints needing to be integrated and displaying and normalizing results to realize centralized integrated and displaying of various different types of constraints; the method comprises the steps of intensively displaying information such as state changes of multiple constraint conditions on a time axis, relations among different constraints and the like in a visual mode by adopting a two-dimensional Cartesian coordinate mode; constraint analysis is carried out on the full moon day multi-constraint time-varying situation map according to the requirements, and support is provided for task target setting and task implementation planning of the whole moon day work. Further, the problems that in remote operation of the lunar surface inspection device, the working constraint conditions are more and more time-varying data, so that multiple time-varying constraints cannot be integrated efficiently and the whole lunar daytime working planning is guided are solved.
The invention integrates the constraints of visibility, energy, measurement and control, perception, detection and the like of the sensors except the terrain in the patrol detection task of the lunar surface patrol device, adopts a time axis to organize each constraint condition under the same scale, realizes the fusion, dynamic display and analysis of each constraint condition, can provide accurate and efficient technical basis for task target setting and task implementation planning in the teleoperation of the lunar surface patrol device, and has higher engineering application value.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of an alternative method of handling lunar rover constraints in accordance with an embodiment of the present invention;
FIG. 2 is a schematic illustration of an alternative application of a set theory model in accordance with an embodiment of the present invention;
FIG. 3 is an alternative full moon day multiple constraint time varying situation schematic diagram one in accordance with an embodiment of the present invention;
FIG. 4 is an alternative full moon day multiple constraint time varying situation diagram II in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of an alternative lunar rover constraint processing apparatus according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided an embodiment of a method of processing lunar rover constraints, it being noted that the steps shown in the flow chart of the drawings may be performed in a computer system such as a set of computer executable instructions and, although a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different from that shown or described herein.
FIG. 1 is a method for processing a lunar rover constraint according to an embodiment of the present invention, as shown in FIG. 1, the method includes the steps of:
Step S102, determining at least one type of constraint condition of the lunar surface inspection device, and preprocessing the at least one type of constraint condition of the lunar surface inspection device so that the processed at least one type of constraint condition is characterized under the same scale by a state quantity.
Step S104, constructing a full moon day multi-constraint time-varying situation map based on the processed constraint conditions, wherein the full moon day multi-constraint time-varying situation map is used for providing constraint guidance for the lunar surface patrol machine.
The application integrates the constraints of visibility, energy, measurement and control, perception, detection and the like of the sensor except the terrain in the inspection and detection task of the lunar rover, organizes the constraint conditions by adopting a time axis under the same scale, and realizes the fusion, dynamic display and analysis of the constraint conditions. The technical problem that multiple types of constraints cannot be integrated efficiently to guide the whole month and day work planning in the prior art is solved, and accurate and efficient technical basis is provided for task target setting and task implementation planning of the lunar surface inspection device inspection detection.
It should be noted that: other constraints are determined or can be predicted except that the topography of the detection area needs to be acquired based on stereoscopic image perception. The topographic information of the detection zone affects the selection of the travel path, and is more biased to implement a policy layer for relatively macroscopic event level planning, and can be temporarily ignored when planning the full moon day mission. Therefore, in the method for processing the constraint condition of the lunar surface inspection device provided by the embodiment of the application, the ground is considered to be a nominal flat ground when the analysis of the full lunar surface multi-constraint condition is performed.
That is, the full moon day multi-constraint time-varying situation map finally generated by the processing method of the lunar surface inspection device constraint condition provided by the embodiment of the application is a multi-constraint time-varying situation map which integrates constraints such as sensor visibility, energy, measurement and control, perception and detection except terrain and adopts a time axis under the same scale.
As shown in table 1, the constraint includes at least any one of the following: sun altitude, sun azimuth, relay altitude, earth altitude, relay azimuth, earth azimuth, hypersensitive visibility, sun-to-day orientation, data transmission visibility, omni-directional visibility, perceived feasibility, detection feasibility.
TABLE 1 construction of full moon day Multi-constraint time-varying situation map
It should be noted that: the 10 constraints in table 1 can be divided into two categories, namely: basic constraint information and calculation constraint information. The basic constraint information mainly comprises sun azimuth, relay star/earth azimuth and the like, and the calculation constraint information mainly comprises sensor visibility, energy, measurement and control, perception, detection and the like.
In an alternative example, preprocessing at least one type of constraint of the lunar rover includes: and performing constraint formalization processing and result normalization processing on the at least one type of constraint conditions so that all types of processed constraint conditions can be integrally displayed in the full moon day multi-constraint time-varying situation map in a concentrated mode, wherein the constraint conditions subjected to the constraint formalization processing are represented by a car body course angle interval.
In other words, constraint preprocessing refers to constraint formalization and result normalization processing of constraint conditions before drawing so as to realize centralized integrated display of multiple different types of constraints.
Regarding constraint formalization, it should be noted that:
Considering the expansibility of the full moon day multi-constraint time-varying situation map, a unified input interface specification needs to be formulated, and constraints are formalized, and specifically, constraint formalization is defined as follows:
CSt＝{(aj,tj,SPnj)，1≤j≤n}
a constraint CSt is composed of a series of discrete points, where a j represents a constraint type and a constraint point identifier, t j represents a time corresponding to the constraint point, and Spn j represents an index distribution interval (such as a heading angle distribution interval) that satisfies the constraint.
The constraint formalization essence is to discretize the continuity problem and the processing result to realize graphical display. And under the uncovered constraint condition between the two constraint points, fitting calculation can be performed by adopting an interpolation method.
Regarding the normalization of the results, it should be noted that:
Because the numerical scales in the different constraint results spn i may be different, if they differ by multiple orders of magnitude, the display of the data results is not favored. Therefore, the resulting value of spn j is typically programmed to a uniform scale before display. The normalization method may employ a maximum-minimum method, which normalizes all values to within the range of 0, 1.
In an alternative example, constructing a full moon day multi-constraint time-varying situation map based on the processed constraints includes: determining an analysis mode and analysis time of the at least one type of constraint conditions, wherein the analysis mode is used for indicating the at least one type of constraint conditions to analyze by adopting a target formula pair in a set theory model; determining data to be analyzed of the at least one type of constraint conditions in the analysis time, and adopting the target formula to calculate the data to be analyzed to obtain an analysis result; and constructing a full moon day multi-constraint time-varying situation map based on the analysis result.
It should be noted that: the computational formulas in the set theory model are respectively as follows:
Intersection calculation: the intersection of sets A and B, denoted A.cndot.B, represents elements that occur simultaneously in sets A and B, may be used to make all constraint satisfaction calculations.
And (3) union calculation: the union of sets A and B, denoted by A.u.B, represents the elements that appear in at least set A or B. May be used to perform partial constraint satisfaction calculations, such as a calculation that may satisfy a probe at a certain time or may satisfy a perception.
Difference set calculation: the difference set of sets A and B, denoted by A\B, is to the elements that appear in set A and do not appear in set B. May be used to perform a partial rejection constraint satisfaction calculation, such as a calculation that may satisfy probing at a certain time but not satisfy perception.
Boolean calculation, which uses Boolean function to perform more complex constraint satisfaction calculation according to basic set intersection, union, difference and other set calculation.
At this time, the analysis mode is used for selecting at least one target formula for the at least one constraint condition in a plurality of calculation formulas in the set theory model to analyze and process the at least one target formula.
In an alternative example, the calculation result of the various constraints is characterized by a car body heading angle interval. Preferably, as shown in fig. 2, before the constraint conditions are calculated and analyzed, each constraint condition is characterized by adopting a car body course angle section, and each constraint condition is calculated and processed by adopting a corresponding car body course angle section.
It should be noted that: since the car body course in the inspection and detection task is the basis of various behaviors such as sensing, moving, charging and detecting, various calculation constraints are output by taking the car body course angle interval as a calculation result. For example: let C i E C be a constraint computing function in the basic form of
[hdown,hup]＝ci(inputs)
Inputs are analysis and calculation input results of constraint conditions, and [ h down,hup ] is a car body heading interval.
In an alternative example, constructing a full moon day multi-constraint time-varying situation map based on the analysis results includes: determining a graphical style of the full moon day multi-constraint time-varying situation map, wherein the graphical style comprises at least any one of: display colors of various constraint conditions and display transparency of various constraint conditions; and constructing a full moon day multi-constraint time-varying situation map based on the analysis result and the graph style, wherein the full moon day multi-constraint time-varying situation map is expressed in the form of a two-dimensional Cartesian coordinate map.
Illustrating: as shown in fig. 3 and 4, the abscissa of the full moon day multi-constraint time-varying situation map is time, the ordinate represents various constraint conditions, and the range of values of the vertical axis is [0,1]. Different constraints adopt different color marks, the interval uses a transparent mode, and overlapping among different constraints is allowed, wherein a full-moon day multi-constraint time-varying situation map is a vector map, and different constraints are overlapped in a map layer mode.
In other words, when constructing the full-moon day multi-constraint time-varying situation map, the staff only needs to determine the constraint condition to be displayed, the color of the constraint condition to be displayed, the transparency of the constraint condition to be displayed, the analysis time of the constraint condition to be displayed and the analysis mode of the constraint condition to be displayed, and then the full-moon day multi-constraint time-varying situation map can be obtained.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
The embodiment of the application also provides a processing device for the constraint condition of the lunar surface inspection device, and the processing device for the constraint condition of the lunar surface inspection device can be used for executing the processing method for the constraint condition of the lunar surface inspection device. The following describes a processing device for constraint conditions of a lunar surface inspection device provided by the embodiment of the application.
Fig. 5 is a schematic diagram of a processing device for a lunar rover constraint according to an embodiment of the present application. As shown in fig. 5, the apparatus includes: a processing unit 10 and a construction unit 20.
The processing unit 10 is configured to determine at least one type of constraint condition of the lunar surface inspection device, and pre-process the at least one type of constraint condition of the lunar surface inspection device, so that the at least one type of constraint condition after processing is characterized by a state quantity under the same scale;
A construction unit 20, configured to construct a full moon day multi-constraint time-varying situation map based on the processed constraint condition, where the full moon day multi-constraint time-varying situation map is used to provide constraint guidance for the lunar surface patrol machine.
Optionally, in the processing device provided in the embodiment of the present application, the processing unit 10 further includes: and the processing subunit is used for carrying out constraint formalization processing and result normalization processing on the at least one type of constraint conditions, wherein the constraint conditions subjected to the constraint formalization processing are represented by a car body course angle interval.
According to the processing device for the constraint conditions of the lunar surface inspection device, provided by the embodiment of the application, at least one type of constraint conditions of the lunar surface inspection device are determined through the processing unit, and the at least one type of constraint conditions of the lunar surface inspection device are preprocessed, so that the processed at least one type of constraint conditions are characterized under the same scale by a state quantity; the construction unit constructs a full moon day multi-constraint time-varying situation map based on the processed constraint conditions, wherein the full moon day multi-constraint time-varying situation map is used for providing constraint guidance for the lunar surface inspection device, and the problem that the working constraint conditions are more and more time-varying data in remote operation of the lunar surface inspection device, so that multi-class time-varying constraint cannot be integrated efficiently and the whole moon day working planning cannot be guided is solved.
The processing device for the constraint condition of the lunar rover comprises a processor and a memory, wherein the processing unit 10, the construction unit 20 and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more than one, and multiple types of time-varying constraints are efficiently integrated by adjusting kernel parameters so as to guide the whole daytime work planning.
The embodiment of the invention provides a storage medium, and a program is stored on the storage medium, and the program is executed by a processor to realize the processing method of the lunar surface inspection device constraint condition.
The embodiment of the invention provides a processor which is used for running a program, wherein the processing method of the lunar rover constraint condition is executed when the program runs.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (8)
1. A method for processing a lunar rover constraint condition, the method comprising:
Determining at least one type of constraint condition of the lunar surface inspection device, and preprocessing the at least one type of constraint condition of the lunar surface inspection device so that the processed at least one type of constraint condition is characterized under the same scale by a state quantity;
Constructing a full moon day multi-constraint time-varying situation map based on the processed constraint conditions, wherein the full moon day multi-constraint time-varying situation map is used for providing constraint guidance for the lunar surface inspection device;
constructing a full moon day multi-constraint time-varying situation map based on the processed constraint conditions, comprising: determining an analysis mode and analysis time of the at least one type of constraint conditions, wherein the analysis mode is used for indicating the at least one type of constraint conditions to analyze by adopting a target formula pair in a set theory model; determining data to be analyzed of the at least one type of constraint conditions in the analysis time, and adopting the target formula to calculate the data to be analyzed to obtain an analysis result; constructing a full moon day multi-constraint time-varying situation map based on the analysis result;
Preprocessing at least one type of constraint condition of the lunar rover comprises the following steps: and performing constraint formalization processing and result normalization processing on the at least one type of constraint conditions, wherein for constraint formalization, a unified input interface specification is formulated, and the constraint is formalized, and constraint formalization is defined as follows: cst= { (a j,tj,spnj), 1.ltoreq.j.ltoreq.n }, constraint Cst is composed of a series of discrete points, a j represents constraint type and constraint point identification, t j represents time corresponding to constraint point, and spn j represents index distribution interval satisfying constraint.
2. A method of processing according to claim 1, wherein the constraints include at least any one of: sun altitude, sun azimuth, relay altitude, earth altitude, relay azimuth, earth azimuth, hypersensitive visibility, sun-to-day orientation, data transmission visibility, omni-directional visibility, perceived feasibility, detection feasibility.
3. The processing method according to claim 1, wherein the constraint condition subjected to the constraint formalization processing is characterized by a vehicle body heading angle section.
4. The processing method according to claim 1, wherein constructing a full moon day multi-constraint time-varying situation map based on the analysis result comprises:
Determining a graphical style of the full moon day multi-constraint time-varying situation map, wherein the graphical style comprises at least any one of: display colors of various constraint conditions and display transparency of various constraint conditions;
And constructing a full moon day multi-constraint time-varying situation map based on the analysis result and the graph style, wherein the full moon day multi-constraint time-varying situation map is expressed in the form of a two-dimensional Cartesian coordinate map.
5. A processing device for a lunar rover constraint condition, the processing device comprising:
The processing unit is used for determining at least one type of constraint condition of the lunar surface inspection device, and preprocessing the at least one type of constraint condition of the lunar surface inspection device so that the processed at least one type of constraint condition is characterized under the same scale by a state quantity;
The construction unit is used for constructing a full moon day multi-constraint time-varying situation map based on the processed constraint conditions, wherein the full moon day multi-constraint time-varying situation map is used for providing constraint guidance for the lunar surface patrol machine; constructing a full moon day multi-constraint time-varying situation map based on the processed constraint conditions, comprising: determining an analysis mode and analysis time of the at least one type of constraint conditions, wherein the analysis mode is used for indicating the at least one type of constraint conditions to analyze by adopting a target formula pair in a set theory model; determining data to be analyzed of the at least one type of constraint conditions in the analysis time, and adopting the target formula to calculate the data to be analyzed to obtain an analysis result; constructing a full moon day multi-constraint time-varying situation map based on the analysis result;
The processing unit further includes: the processing subunit is configured to perform constraint formalization processing and result normalization processing on the at least one type of constraint condition, where for constraint formalization, a unified input interface specification is formulated, and the constraint is formalized, where constraint formalization is defined as follows: cst= { (a j,tj,spnj), 1.ltoreq.j.ltoreq.n }, constraint Cst is composed of a series of discrete points, a j represents constraint type and constraint point identification, t j represents time corresponding to constraint point, and spn j represents index distribution interval satisfying constraint.
6. The processing apparatus according to claim 5, wherein the constraint condition subjected to the constraint formalization is characterized by a vehicle body heading angle section.
7. A storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the method of handling the lunar rover constraint of any one of claims 1 to 4.
8. A processor for running a program, wherein the program when run performs the method of handling the lunar rover constraint of any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110963716.1A CN113722901B (en) | 2021-08-20 | 2021-08-20 | Method and device for processing constraint conditions of lunar surface inspection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110963716.1A CN113722901B (en) | 2021-08-20 | 2021-08-20 | Method and device for processing constraint conditions of lunar surface inspection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113722901A CN113722901A (en) | 2021-11-30 |
| CN113722901B true CN113722901B (en) | 2024-08-23 |
Family
ID=78677150
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110963716.1A Active CN113722901B (en) | 2021-08-20 | 2021-08-20 | Method and device for processing constraint conditions of lunar surface inspection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113722901B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114912775B (en) * | 2022-04-27 | 2023-03-24 | 北京航天飞行控制中心 | Teleoperation planning method and teleoperation planning system for granular management action duration |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112686509A (en) * | 2020-12-21 | 2021-04-20 | 长光卫星技术有限公司 | Space target guided imaging task planning method based on agile optical remote sensing satellite |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106672266B (en) * | 2017-01-04 | 2019-12-13 | 北京理工大学 | Balance point Halo orbit phase modulation orbit transfer method considering time constraint |
| CN111031258B (en) * | 2020-01-15 | 2021-02-05 | 北京航天飞行控制中心 | Lunar vehicle navigation camera exposure parameter determination method and device |
| CN112506205B (en) * | 2020-12-17 | 2022-11-25 | 深圳市朗驰欣创科技股份有限公司 | Robot inspection task planning method and device |
-
2021
- 2021-08-20 CN CN202110963716.1A patent/CN113722901B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112686509A (en) * | 2020-12-21 | 2021-04-20 | 长光卫星技术有限公司 | Space target guided imaging task planning method based on agile optical remote sensing satellite |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113722901A (en) | 2021-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Pamucar | Normalized weighted geometric Dombi Bonferroni mean operator with interval grey numbers: Application in multicriteria decision making | |
| EP2637010B1 (en) | Method and system for monitoring a structure | |
| US20040138935A1 (en) | Visualizing business analysis results | |
| JPH10513584A (en) | System for real-time optimization and profit description | |
| EP4177803A1 (en) | Vegetation management system and vegetation management method | |
| CN103198207A (en) | Diagnostic algorithm parameter optimization | |
| CN114493375B (en) | Construction safety macroscopic evaluation system and method | |
| CN113722901B (en) | Method and device for processing constraint conditions of lunar surface inspection device | |
| CN113344473B (en) | Optimization method and device for ocean target cooperative detection device | |
| WO2017051032A1 (en) | A method for estimating the need for maintenance of a component | |
| CN115205718B (en) | Geographic information measuring system and measuring method thereof | |
| TWI604324B (en) | Performance evaluation system and method | |
| CN112817331A (en) | Intelligent forestry information monitoring system based on multi-machine cooperation | |
| CN104930980A (en) | Extraction device and method | |
| US20240256725A1 (en) | Infrastructure asset prioritization software technologies for steel and concrete assets | |
| CN110766984B (en) | Unmanned aerial vehicle operation scene modeling method | |
| Geiger et al. | Assistance system for an automated log-quality and assortment estimation based on data-driven approaches using hydraulic signals of forestry machines | |
| Privalov et al. | Decision Support System for Integrated Geo-Information Environmental Monitoring | |
| CN109948449A (en) | A kind of information processing method, device and storage medium | |
| CN109948656A (en) | A kind of information processing method, device and storage medium | |
| CN100590660C (en) | Image processing device and method for design | |
| CN110321521A (en) | Tracing system is assessed to the method and relevant apparatus of the accordance of desired set | |
| US20230169742A1 (en) | Entirely virtual process for optometric values measurements | |
| McLaughlin | 1 Agile Data Analysis | |
| US11892308B2 (en) | Uncertainty-based map visualizations for directing vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |