Spacecraft cabin on-orbit leak detection method and equipment

Abstract

The invention provides an on-orbit leakage detection method and equipment for a spacecraft cabin, and is applied to an on-orbit leakage detection device for the spacecraft cabin, and the method comprises the steps: arranging the on-orbit leakage detection device for the spacecraft cabin at a target position; acquiring data acquired by each sensor of each array surface in a first preset time period, and performing short-time Fourier transform on the data acquired by each sensor to obtain initial normal data of each array surface; based on the initial normal data of each array surface, acquiring background data of each array surface with time-varying amplitude under different frequency bands; acquiring real-time signal characteristics of the amplitude of each array surface under different frequency bands within a second preset time period along with time change based on the initial normal data of each array surface at a preset time interval; and comparing the background data with the real-time signal features to obtain a comparison result, and determining the leakage position of the spacecraft cabin based on the comparison result, thereby realizing real-time monitoring of the leakage state of the spacecraft cabin and accurate positioning of the leakage position.

Description

Technical Field

[0001] The embodiments of this specification relate to the technical field of spacecraft leak detection, and in particular, to a method and equipment for on-orbit leak detection of spacecraft cabins. Background Art

[0002] Large spacecraft such as space stations are extremely vulnerable to the impact of space debris and the space environment during their in-orbit operation, which can cause damage to the cabin and leakage, directly threatening the lives of astronauts.

[0003] The implementation of on-orbit leak detection for large multi-cabin sections that stay in orbit for a long time, such as space stations, cargo ships, and manned spacecraft. Its main characteristics are that the internal structure of the cabin is complex, and there are multiple layers and cargo accumulation that block the cabin wall, blocking the propagation of effective signals and characteristic frequencies; at the same time, the measured leakage sound signal is a broadband continuous and weak signal, and there is a frequency shift phenomenon in the leakage of different holes, not only audible sound, but also ultrasonic part; the audible sound wave signal is affected by the background noise in the sealed cabin, and the ultrasonic signal will be blocked by the accumulation of cargo and attenuated and affect the penetration and characteristic frequency of the device; at the same time, real-time 360-degree monitoring is required. Therefore, after the docking of multi-cabin sections that stay in orbit for a long time, the cabins are connected at the same time. If an on-orbit leak occurs, it is still impossible to quickly determine the specific cabin or cabin that has failed; and in the face of complex structures, the blocking of multi-layer fabric cargo stacking, the noise of complex instruments and equipment in the cabin, etc., it is difficult to realize the on-orbit leakage judgment of the cabin.

[0004] Therefore, a better solution is urgently needed. Summary of the invention

[0005] In view of this, the embodiments of this specification provide a method for detecting leakage of a spacecraft compartment on-orbit. One or more embodiments of this specification also relate to a device for detecting leakage of a spacecraft compartment on-orbit, a computing device, a computer-readable storage medium and a computer program to solve the technical defects existing in the prior art.

[0006] According to a first aspect of an embodiment of the present specification, a method for on-orbit leakage detection of a spacecraft cabin is provided, which is applied to an on-orbit leakage detection device for a spacecraft cabin, wherein the device comprises at least one air-coupled broadband acoustic cube, and each array surface of the air-coupled broadband acoustic cube is provided with 8 air-coupled broadband acoustic sensors, and the 8 air-coupled broadband acoustic sensors on the same array surface are arranged in a circle in the form of an equally divided ring, and the method comprises:

[0007] When the spacecraft is in the cabin leak detection stage, the spacecraft cabin on-orbit leak detection device is set at a target position;

[0008] Acquire data collected by each sensor of each array surface within a first preset time period, and perform short-time Fourier transform on the data collected by each sensor to obtain initial normal data of each array surface;

[0009] Based on the initial normal data of each array surface, acquiring background data of amplitude variation over time of each array surface in different frequency bands;

[0010] Acquire, at predetermined intervals, the real-time signal characteristics of the amplitude of each array surface in different frequency bands varying with time within a second preset time period based on the initial normal data of each array surface;

[0011] The background data is compared with the real-time signal characteristics to obtain a comparison result, and the leakage position of the spacecraft compartment is determined based on the comparison result.

[0012] In a possible implementation, when a spacecraft is in a cabin leak detection stage, the spacecraft cabin on-orbit leak detection device is set at a target position, including:

[0013] The on-orbit leak detection device for a spacecraft cabin is suspended in a cabin to be tested of a spacecraft based on a shapeable spring, and the suspension height of the on-orbit leak detection device for a spacecraft cabin is adjusted so that the on-orbit leak detection device for a spacecraft cabin is located at the center of the cabin to be tested, wherein one end of the shapeable spring is connected to the on-orbit leak detection device for a spacecraft cabin through a plug with three locating pins, and the other end of the shapeable spring is adhered to the cabin to be tested through nylon Velcro.

[0014] In a possible implementation, acquiring background data of amplitude variation over time of each array surface in different frequency bands based on the initial normal data of each array surface includes:

[0015] Performing a short-time Fourier transform on each channel signal in the initial normal data of each array surface to obtain first change data of each channel, wherein each channel signal is the initial normal data corresponding to each sensor;

[0016] The sum of the first change data of each channel on the same array surface is averaged to obtain a first average value, and the first average value is used as background data of the amplitude change over time of each array surface in different frequency bands.

[0017] In a possible implementation, comparing the background data with the real-time signal feature to obtain a comparison result, and determining the leakage position of the spacecraft cabin based on the comparison result includes:

[0018] When the amplitude value in the real-time signal feature is higher than the amplitude average value of the background data, and the real-time signal feature contains a new frequency that does not exist in the background data, and the duration of the new frequency exceeds the first duration, the real-time signal feature of the frequency band where the new frequency is located is used as the target signal feature;

[0019] If the signal characteristics in the preset ground verification database are consistent with the target signal characteristics in frequency characteristics, then re-collect the real-time signal characteristics of the array surface corresponding to the new frequency;

[0020] If the new frequency still exists in the re-collected real-time signal features, leakage exists in the array plane corresponding to the new frequency, and the leakage position is determined based on the first change data of each channel in the array plane where the leakage exists.

[0021] In a possible implementation, determining the leakage location based on the first change data of each channel in the array plane where the leakage exists includes:

[0022] The first change data of each channel in the array surface with leakage are compared, and the channel with the largest first change data is taken as the leakage direction.

[0023] In a possible implementation, the signal feature in the preset ground verification database and the target signal feature are obtained based on the following formula, including:

[0024]

[0025] in, is the target signal feature, An is the weighted number, Pi(j)(fn,t) is the first change data, j is the sensor number on each array surface, f is the frequency, t is the time, The signal characteristics in the database are verified for the predetermined ground.

[0026] In a possible implementation, the method further includes:

[0027] When the signal features in the preset ground verification database do not overlap with the target signal features in frequency band, the real-time signal features of the array surface corresponding to the new frequency are collected repeatedly and continuously, and the frequency band feature points and amplitudes in the target signal features are written into the preset ground verification database.

[0028] According to a second aspect of an embodiment of the present specification, there is provided an on-orbit leakage detection device for a spacecraft cabin, which is applied to an on-orbit leakage detection device for a spacecraft cabin. The device comprises at least one air-coupled broadband acoustic cube, and each array surface of the air-coupled broadband acoustic cube is provided with 8 air-coupled broadband acoustic sensors, and the 8 air-coupled broadband acoustic sensors on the same array surface are arranged in a circle in the form of an equally divided ring. The device comprises:

[0029] A device setting module, used to set the spacecraft cabin on-orbit leak detection device at a target position when the spacecraft is in the cabin leak detection stage;

[0030] An initial transformation module, used to obtain data collected by each sensor of each array surface within a first preset time period, and perform short-time Fourier transformation on the data collected by each sensor to obtain initial normal data of each array surface;

[0031] A background data acquisition module, used for acquiring background data of amplitude changes over time of each array surface in different frequency bands based on the initial normal data of each array surface;

[0032] A real-time signal feature acquisition module, used to acquire, at predetermined intervals, the real-time signal features of the amplitude of each array surface in different frequency bands varying with time within a second preset time period based on the initial normal data of each array surface;

[0033] The leakage position determination module is used to compare the background data with the real-time signal characteristics to obtain a comparison result, and determine the leakage position of the spacecraft cabin based on the comparison result.

[0034] According to a third aspect of an embodiment of this specification, a computing device is provided, including:

[0035] Memory and processor;

[0036] The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the above-mentioned on-orbit leak detection method for spacecraft cabin are implemented.

[0037] According to a fourth aspect of the embodiments of this specification, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the above-mentioned on-orbit leak detection method for spacecraft cabins are implemented.

[0038] According to a fifth aspect of the embodiments of the present specification, a computer program is provided, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned method for in-orbit leak detection of spacecraft cabins.

[0039] The embodiments of the present specification provide a method and device for on-orbit leakage detection of a spacecraft cabin, wherein the method for on-orbit leakage detection of a spacecraft cabin is applied to an on-orbit leakage detection device for a spacecraft cabin, wherein the device comprises at least one air-coupled broadband acoustic cube, wherein each array surface of the air-coupled broadband acoustic cube is provided with 8 air-coupled broadband acoustic sensors, and the 8 air-coupled broadband acoustic sensors on the same array surface are arranged in a circle in the form of an equally divided ring, wherein the method comprises: when the spacecraft is in the cabin leakage detection stage, setting the on-orbit leakage detection device for the spacecraft cabin at a target position; obtaining each sensor on each array surface at a first preset time; The data collected in the interval are collected, and the data collected by each sensor is short-time Fourier transformed to obtain the initial normal data of each array surface; the background data of the amplitude of each array surface in different frequency bands changing with time is obtained based on the initial normal data of each array surface; the real-time signal characteristics of the amplitude of each array surface in different frequency bands changing with time in the second preset time period are obtained based on the initial normal data of each array surface at predetermined intervals; the background data is compared with the real-time signal characteristics to obtain a comparison result, and the leakage position of the spacecraft cabin is determined based on the comparison result. The above steps realize the real-time monitoring of the leakage status of the spacecraft cabin and the accurate positioning of the leakage position. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a flow chart of an on-orbit leak detection method for a spacecraft cabin provided by an embodiment of this specification;

[0041] Figure 2 It is a schematic structural diagram of an on-orbit leak detection device for a spacecraft cabin provided by an embodiment of this specification;

[0042] Figure 3 It is a schematic diagram of the circuit structure of a power board provided in one embodiment of this specification;

[0043] Figure 4 It is a structural schematic diagram of an on-orbit leak detection device for a spacecraft cabin provided by an embodiment of this specification;

[0044] Figure 5 It is a structural block diagram of a computing device provided by an embodiment of this specification. DETAILED DESCRIPTION

[0045] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0046] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0047] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0048] In this specification, a method for on-orbit leak detection of a spacecraft cabin is provided. This specification also relates to an on-orbit leak detection device for a spacecraft cabin, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0049] See also Figure 1 , Figure 1 A flow chart of an on-orbit leak detection method for a spacecraft cabin provided according to an embodiment of the present specification is shown. The method is applied to an on-orbit leak detection device for a spacecraft cabin, the device comprising at least one air-coupled broadband acoustic cube, eight air-coupled broadband acoustic sensors being arranged on each array surface of the air-coupled broadband acoustic cube, and the eight air-coupled broadband acoustic sensors on the same array surface are arranged in a circle in the form of equally divided rings, specifically comprising the following steps.

[0050] Step 101: When the spacecraft is in the cabin leak detection stage, the spacecraft cabin on-orbit leak detection device is set at a target position.

[0051] In a possible implementation, when a spacecraft is in a cabin leak detection stage, the spacecraft cabin on-orbit leak detection device is set at a target position, including:

[0052] The on-orbit leak detection device for a spacecraft cabin is suspended in a cabin to be tested of a spacecraft based on a shapeable spring, and the suspension height of the on-orbit leak detection device for a spacecraft cabin is adjusted so that the on-orbit leak detection device for a spacecraft cabin is located at the center of the cabin to be tested, wherein one end of the shapeable spring is connected to the on-orbit leak detection device for a spacecraft cabin through a plug with three locating pins, and the other end of the shapeable spring is adhered to the cabin to be tested through nylon Velcro.

[0053] In practical applications, see Figure 2 The on-orbit leak detection device for the spacecraft compartment includes at least one space-coupled broadband acoustic cube, which is composed of 6 array surfaces, and each array surface is provided with 8 space-coupled broadband acoustic sensors, and is arranged as follows: Figure 2 The method shown is evenly divided and arranged on the surface of the array to form a circle, so as to realize omnidirectional perception of leakage sound signals propagating along the air.

[0054] Furthermore, the on-orbit leak detection device for the spacecraft compartment can also include an FPGA core signal processing module, a power supply module, a switch, an external electrical connector, four lithium battery packs, a spiral semi-flexible suspension deformable spring with three fixed positions, a wifi communication module, and six alarm lights, such as Figure 2 As shown, it is different from the traditional ADC analog sampling operation mechanism; the sensor is fixed on the circuit board. The array signal line, power line, and ground line are led out with customized plugs, and the power supply and signal transmission are through the data bus. A plastic plate with the same height as the sensor is covered on the surface of the circuit board to ensure that the surface is flush, and then the circuit board is embedded in the installation template, which can be installed as a whole on the measurement model; the independent output signal and power supply are connected to the FPGA core signal processing module through flexible cables for signal processing.

[0055] The six array surfaces are installed on a structural plate with sound pickup holes, and a circuit fixing bracket is added to the structural plate. The six structural plates form a cube, which is equipped with an FPGA core signal processing module, a power supply module and a wifi communication module. The structure has switches, an external electrical connector, four lithium battery packs, a spiral semi-flexible formable spring suspension with three fixed positions, and six alarm lights; one alarm light is arranged on the shell of the lithium battery pack, which is directly plugged in and out in the center of the four sides of the cube structure, and one alarm light is installed on the top and bottom surfaces. The electrical connector is placed on the bottom structural panel, the switch is arranged on the front panel on the side, and the semi-flexible formable spring suspension is installed on the top panel of the cube structure.

[0056] like Figure 3As shown, the FPGA core signal processing module inside the device mainly uses Xilinx's 7020FPGA as the core processing unit. The output plug is connected to the FPGA processor to demodulate the signal. The data is analyzed and processed through the ARM core in the FPGA. The data can be tested and analyzed by the host computer through the network port. When the alarm threshold is exceeded, the ARM controls the IO port to drive the center surface light to flash for alarm, and control the wifi module to transmit.

[0057] The wifi circuit module transmits the original data, analyzed data and alarm signal to the relay through the WI FI chip, controlled by FPGA and ARM, and then the alarm is sounded through the alarm light on the relay. The host module uses AW859A wifi chip, supports IEEE 802.11a / b / g / n / ac, performs signal transmission, and increases the alarm data switch transmission, such as Figure 3 shown.

[0058] The main functions of the power supply module include converting the 9-12V power supply of the lithium battery into the 5V / ±12V power supply required by the FPGA board and the sensor board, collecting the battery voltage and battery temperature telemetry of the lithium battery, and completing the AD acquisition of the ultrasonic signal output by the sensor board, as well as the DA conversion output of the audio signal. The power board mainly includes a fuse protection circuit, a surge suppression circuit, a power conversion circuit, an AD conversion circuit, an audio conversion circuit, and a battery voltage / temperature telemetry circuit. The power board principle block diagram is shown in Figure 3 .

[0059] The power conversion circuit uses the LTM4644 voltage regulator produced by LINEAR to convert the 9-12V power supply into +5V and +3.3V power supplies. At the same time, the LT3582 power converter is used to convert the +5V power supply output by the LTM4644 into ±12V to power the FPGA board and the sensor board respectively. The input voltage range of the LTM4644 is +4 to 14V, the output voltage is +5V, the rated working current is 4A, the actual working current is not more than 2A, and the operating temperature range is -40 to +125℃. The input voltage range of the LT3582 is +3 to 12V, the output voltage is ±12V, the rated working current is 300mA, the actual working current is not more than 20mA, and the operating temperature range is -40 to +125℃. The interface design of the power supply part mainly involves its own battery power supply interface, external power supply interface, and power board input and output interface. The battery power supply interface adopts a two-pin positive and negative DC power supply method in the form of a pin; while the power board is powered by both battery and external power, and the voltage conversion is realized through the conversion circuit and transmitted to other circuits.

[0060] The battery pack uses a 18650 lithium battery pack, powered by 12VDC, with a capacity better than 3000mAh, and is connected in 3 series using Y36A. When charging, it is removed and replaced from the side slots, and charged externally. The charger uses an on-track leak detector charger. The battery cell is a cylindrical fully sealed structure, which is composed of a positive electrode, a negative electrode, a diaphragm, a safety valve, a PTC (positive temperature control terminal), a battery shell, etc. The battery design adopts a negative electrode shell design, and the battery shell is the negative electrode. Insulation measures are taken between the positive electrode and the shell. The dimensions of the 18650 battery are: diameter 18mm, height 65mm, weight 45g~49g.

[0061] Among them, the shapeable spring suspension is made of hard single-core 3mm diameter thick copper cable, which can be stretched and compressed by hand, and the shape and position can be maintained to achieve position adjustment; the top disc has nylon hook and loop, which can be directly pasted. The bottom is a plug with 3 positioning pins, which can be directly inserted into the positioning slot at the top of the device to complete the suspension fixation.

[0062] Furthermore, after hanging the leak detection device, you can press the self-locking switch, turn on the equipment, and start monitoring. If the power lights are all green, it is normal. If the power lights are not green, the leak detection device needs to be repaired.

[0063] Step 102: Acquire data collected by each sensor of each array surface within a first preset time period, and perform short-time Fourier transform on the data collected by each sensor to obtain initial normal data of each array surface.

[0064] Specifically, starting from power-on, 1 minute is the start of the background noise test, each sensor on each array surface is detected, and the data is stored in each address in the memory. The data of the 8 sensors on each array surface are analyzed, and the time-frequency spectrum data obtained by the real-time short-time Fourier transform of 1 minute is stored in the memory as the initial normal data of each array surface; at the same time, each channel signal is recorded as Fi(j), where i is the array surface number, ranging from 0 to 5; j is the sensor number on each array surface, ranging from 0 to 7.

[0065] Step 103: Based on the initial normal data of each array surface, background data of amplitude variation over time of each array surface in different frequency bands is obtained.

[0066] In a possible implementation, acquiring background data of amplitude variation over time of each array surface in different frequency bands based on the initial normal data of each array surface includes:

[0067] Performing a short-time Fourier transform on each channel signal in the initial normal data of each array surface to obtain first change data of each channel, wherein each channel signal is the initial normal data corresponding to each sensor;

[0068] The sum of the first change data of each channel on the same array surface is averaged to obtain a first average value, and the first average value is used as background data of the amplitude change over time of each array surface in different frequency bands.

[0069] In practical applications, a short-time Fourier transform is performed on each channel signal Fi(j) in the initial normal data of each array surface. The frequency amplitude that changes with time can be obtained through the short-time Fourier transform. The data obtained after the short-time Fourier transform of each channel is used as the first change data and is counted as Pi(j)(f,t), where i and j are consistent with the sensor channel recording method, f is the frequency, and t is the time. After the time information is introduced, the amplitude and duration reflected on each main frequency can be recorded. At the same time, the first change data of the 8 channels are summed and averaged, which is counted as It also serves as the background of the amplitude variation over time in different frequency bands on the array surface.

[0070] Step 104: acquiring, at predetermined intervals, real-time signal characteristics of amplitude variations over time of each array surface in different frequency bands within a second preset time period based on the initial normal data of each array surface.

[0071] Specifically, considering the need for long-term monitoring of the spacecraft compartment, in order to control the power, the detection is performed for 10 minutes every 30 minutes; the detection of the real-time signal characteristics of the amplitude change over time of each array surface in different frequency bands is consistent with the method of obtaining the first change data, and the detected real-time signal characteristics of the amplitude change over time of each array surface in different frequency bands are counted as

[0072] Step 105: Compare the background data with the real-time signal characteristics to obtain a comparison result, and determine the leakage position of the spacecraft cabin based on the comparison result.

[0073] In a possible implementation, comparing the background data with the real-time signal feature to obtain a comparison result, and determining the leakage position of the spacecraft cabin based on the comparison result includes:

[0074] When the amplitude value in the real-time signal feature is higher than the amplitude average value of the background data, and the real-time signal feature contains a new frequency that does not exist in the background data, and the duration of the new frequency exceeds the first duration, the real-time signal feature of the frequency band where the new frequency is located is used as the target signal feature;

[0075] If the signal characteristics in the preset ground verification database are consistent with the target signal characteristics in frequency characteristics, then re-collect the real-time signal characteristics of the array surface corresponding to the new frequency;

[0076] If the new frequency still exists in the re-collected real-time signal features, leakage exists in the array plane corresponding to the new frequency, and the leakage position is determined based on the first change data of each channel in the array plane where the leakage exists.

[0077] In a possible implementation, determining the leakage location based on the first change data of each channel in the array plane where the leakage exists includes:

[0078] The first change data of each channel in the array surface with leakage are compared, and the channel with the largest first change data is taken as the leakage direction.

[0079] In a possible implementation, the signal feature in the preset ground verification database and the target signal feature are obtained based on the following formula, including:

[0080]

[0081] in, is the target signal feature, An is the weighted number, Pi(j)(fn,t) is the first change data, j is the sensor number on each array surface, f is the frequency, t is the time, The signal characteristics in the database are verified for the predetermined ground.

[0082] In a possible implementation, the method further includes:

[0083] When the signal features in the preset ground verification database do not overlap with the target signal features in frequency band, the real-time signal features of the array surface corresponding to the new frequency are collected repeatedly and continuously, and the frequency band feature points and amplitudes in the target signal features are written into the preset ground verification database.

[0084] In practical applications, and Compare and record the new frequency as the case where the duration has been or has been present since the occurrence. That is, the real-time signal characteristics of the array surface corresponding to the new frequency are used to preliminarily determine that there may be a suspected leakage, and then the data is compared with the signal characteristics in the preset ground verification database. After comparison, if there is consistency in frequency characteristics, it will be listed as the target signal characteristic and further investigated as a key suspicious signal.

[0085] Furthermore, based on step S104, after repeating the test for 10 minutes, it can be determined that there is leakage in the direction of the sound array, and the channel with the largest first change data is taken as the leakage direction.

[0086] Furthermore, after completing the leak detection, if the signal characteristics in the preset ground verification database do not overlap with the target signal characteristics in the frequency band, the number of continuous repeated detections is increased, and the frequency band characteristic points and amplitudes in the target signal characteristics are written into the preset ground verification database as the basic database for subsequent learning and training.

[0087] The embodiments of the present specification provide a method and device for on-orbit leakage detection of a spacecraft cabin, wherein the method for on-orbit leakage detection of a spacecraft cabin is applied to an on-orbit leakage detection device for a spacecraft cabin, wherein the device comprises at least one air-coupled broadband acoustic cube, wherein each array surface of the air-coupled broadband acoustic cube is provided with 8 air-coupled broadband acoustic sensors, and the 8 air-coupled broadband acoustic sensors on the same array surface are arranged in a circle in the form of an equally divided ring, wherein the method comprises: when the spacecraft is in the cabin leakage detection stage, setting the on-orbit leakage detection device for the spacecraft cabin at a target position; obtaining each sensor on each array surface at a first preset time; The data collected in the interval are collected, and the data collected by each sensor is short-time Fourier transformed to obtain the initial normal data of each array surface; the background data of the amplitude of each array surface in different frequency bands changing with time is obtained based on the initial normal data of each array surface; the real-time signal characteristics of the amplitude of each array surface in different frequency bands changing with time in the second preset time period are obtained based on the initial normal data of each array surface at predetermined intervals; the background data is compared with the real-time signal characteristics to obtain a comparison result, and the leakage position of the spacecraft cabin is determined based on the comparison result. The above steps realize the real-time monitoring of the leakage status of the spacecraft cabin and the accurate positioning of the leakage position.

[0088] Corresponding to the above method embodiment, this specification also provides an embodiment of an on-orbit leak detection device for a spacecraft cabin. Figure 4 The schematic diagram of the structure of an on-orbit leak detection device for a spacecraft cabin provided by an embodiment of the present specification is shown. The device is applied to an on-orbit leak detection device for a spacecraft cabin, and the device comprises at least one air-coupled broadband acoustic cube, and each array surface of the air-coupled broadband acoustic cube is provided with 8 air-coupled broadband acoustic sensors, and the 8 air-coupled broadband acoustic sensors on the same array surface are arranged in a circle in the form of an equally divided ring, such as Figure 4 As shown, the device comprises:

[0089] The device setting module 401 is used to set the spacecraft cabin on-orbit leak detection device at a target position when the spacecraft is in the cabin leak detection stage;

[0090] An initial transformation module 402 is used to obtain data collected by each sensor of each array surface within a first preset time period, and perform short-time Fourier transformation on the data collected by each sensor to obtain initial normal data of each array surface;

[0091] A background data acquisition module 403 is used to acquire background data of amplitude changes over time of each array surface in different frequency bands based on the initial normal data of each array surface;

[0092] A real-time signal feature acquisition module 404, configured to acquire, at predetermined intervals, the real-time signal features of the amplitude of each array surface in different frequency bands varying with time within a second preset time period based on the initial normal data of each array surface;

[0093] The leakage position determination module 405 is used to compare the background data with the real-time signal characteristics to obtain a comparison result, and determine the leakage position of the spacecraft cabin based on the comparison result.

[0094] The above is a schematic scheme of an on-orbit leak detection device for a spacecraft cabin of this embodiment. It should be noted that the technical scheme of the on-orbit leak detection device for a spacecraft cabin and the technical scheme of the on-orbit leak detection method for a spacecraft cabin described above are of the same concept, and the details not described in detail in the technical scheme of the on-orbit leak detection device for a spacecraft cabin can be referred to the description of the technical scheme of the on-orbit leak detection method for a spacecraft cabin described above.

[0095] Figure 5 The block diagram of a computing device 400 according to one embodiment of the present specification is shown. The components of the computing device 400 include but are not limited to a memory 410 and a processor 420. The processor 420 is connected to the memory 410 via a bus 430, and the database 450 is used to store data.

[0096] The computing device 400 also includes an access device 440 that enables the computing device 400 to communicate via one or more networks 460. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 440 may include one or more of any type of network interface (e.g., a network interface card (NIC)) that is wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, and a near field communication (NFC).

[0097] In one embodiment of the present specification, the above components of the computing device 400 and Figure 5 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 5 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0098] The computing device 400 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 400 may also be a mobile or stationary server.

[0099] Among them, the processor 420 is used to execute the following computer executable instructions, which, when executed by the processor, implement the steps of the above-mentioned on-orbit leak detection method for spacecraft cabins. The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above-mentioned on-orbit leak detection method for spacecraft cabins belong to the same concept. For details not described in detail in the technical scheme of the computing device, please refer to the description of the technical scheme of the above-mentioned on-orbit leak detection method for spacecraft cabins.

[0100] An embodiment of the present specification also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the above-mentioned on-orbit leak detection method for a spacecraft cabin.

[0101] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the above-mentioned on-orbit leak detection method for spacecraft cabins are of the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the above-mentioned on-orbit leak detection method for spacecraft cabins.

[0102] An embodiment of the present specification also provides a computer program, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned method for on-orbit leak detection of a spacecraft cabin.

[0103] The above is a schematic scheme of a computer program of this embodiment. It should be noted that the technical scheme of the computer program and the technical scheme of the above-mentioned on-orbit leak detection method for spacecraft cabins are of the same concept, and the details not described in detail in the technical scheme of the computer program can be found in the description of the technical scheme of the above-mentioned on-orbit leak detection method for spacecraft cabins.

[0104] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0105] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0106] It should be noted that, for the convenience of description, the aforementioned method embodiments are all described as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0107] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0108] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A method for detecting leaks in a spacecraft compartment on-orbit, characterized in that: Applied to an on-orbit leak detection device for a spacecraft cabin, the device comprises at least one air-coupled broadband acoustic cube, each array surface of the air-coupled broadband acoustic cube is provided with 8 air-coupled broadband acoustic sensors, and the 8 air-coupled broadband acoustic sensors on the same array surface are arranged in a circle in the form of an equally divided ring, the method comprising: When the spacecraft is in the cabin leak detection stage, the spacecraft cabin on-orbit leak detection device is set at a target position; Acquire data collected by each sensor of each array surface within a first preset time period, and perform short-time Fourier transform on the data collected by each sensor to obtain initial normal data of each array surface; Based on the initial normal data of each array surface, acquiring background data of amplitude variation over time of each array surface in different frequency bands; Acquire, at predetermined intervals, the real-time signal characteristics of the amplitude of each array surface in different frequency bands varying with time within a second preset time period based on the initial normal data of each array surface; The background data is compared with the real-time signal characteristics to obtain a comparison result, and the leakage position of the spacecraft compartment is determined based on the comparison result.

2. The method according to claim 1, characterized in that When the spacecraft is in the cabin leak detection stage, the spacecraft cabin on-orbit leak detection device is set at a target position, including: The on-orbit leak detection device for a spacecraft cabin is suspended in a cabin to be tested of a spacecraft based on a shapeable spring, and the suspension height of the on-orbit leak detection device for a spacecraft cabin is adjusted so that the on-orbit leak detection device for a spacecraft cabin is located at the center of the cabin to be tested, wherein one end of the shapeable spring is connected to the on-orbit leak detection device for a spacecraft cabin through a plug with three locating pins, and the other end of the shapeable spring is adhered to the cabin to be tested through nylon Velcro.

3. The method according to claim 1, characterized in that Acquiring background data of amplitude changes over time of each array surface in different frequency bands based on the initial normal data of each array surface, including: Performing a short-time Fourier transform on each channel signal in the initial normal data of each array surface to obtain first change data of each channel, wherein each channel signal is the initial normal data corresponding to each sensor; The sum of the first change data of each channel on the same array surface is averaged to obtain a first average value, and the first average value is used as background data of the amplitude change over time of each array surface in different frequency bands.

4. The method according to claim 3, characterized in that Comparing the background data with the real-time signal characteristics to obtain a comparison result, and determining the leakage position of the spacecraft compartment based on the comparison result, including: When the amplitude value in the real-time signal feature is higher than the amplitude average value of the background data, and the real-time signal feature contains a new frequency that does not exist in the background data, and the duration of the new frequency exceeds the first duration, the real-time signal feature of the frequency band where the new frequency is located is used as the target signal feature; If the signal characteristics in the preset ground verification database are consistent with the target signal characteristics in frequency characteristics, then re-collect the real-time signal characteristics of the array surface corresponding to the new frequency; If the new frequency still exists in the re-collected real-time signal features, leakage exists in the array plane corresponding to the new frequency, and the leakage position is determined based on the first change data of each channel in the array plane where the leakage exists.

5. The method according to claim 4, characterized in that Determining the leakage position based on the first change data of each channel in the array surface where the leakage exists includes: The first change data of each channel in the array surface with leakage are compared, and the channel with the largest first change data is taken as the leakage direction.

6. The method according to claim 4, characterized in that The signal characteristics in the preset ground verification database and the target signal characteristics are obtained based on the following formula, including: in, is the target signal feature, An is the weighted number, Pi(j)(fn,t) is the first change data, j is the sensor number on each array surface, f is the frequency, t is the time, The signal characteristics in the database are verified for the predetermined ground.

7. The method according to claim 4, characterized in that The method further comprises: When the signal features in the preset ground verification database do not overlap with the target signal features in frequency band, the real-time signal features of the array surface corresponding to the new frequency are collected repeatedly and continuously, and the frequency band feature points and amplitudes in the target signal features are written into the preset ground verification database.

8. An on-orbit leak detection device for a spacecraft compartment, characterized in that: Applicable to an on-orbit leak detection device for a spacecraft cabin, the device comprises at least one air-coupled broadband acoustic cube, each array surface of the air-coupled broadband acoustic cube is provided with 8 air-coupled broadband acoustic sensors, and the 8 air-coupled broadband acoustic sensors on the same array surface are arranged in a circle in the form of an equally divided ring, the device comprises: A device setting module, used to set the spacecraft cabin on-orbit leak detection device at a target position when the spacecraft is in the cabin leak detection stage; An initial transformation module, used to obtain data collected by each sensor of each array surface within a first preset time period, and perform short-time Fourier transformation on the data collected by each sensor to obtain initial normal data of each array surface; A background data acquisition module, used for acquiring background data of amplitude changes over time of each array surface in different frequency bands based on the initial normal data of each array surface; A real-time signal feature acquisition module, used to acquire, at predetermined intervals, the real-time signal features of the amplitude of each array surface in different frequency bands varying with time within a second preset time period based on the initial normal data of each array surface; The leakage position determination module is used to compare the background data with the real-time signal characteristics to obtain a comparison result, and determine the leakage position of the spacecraft cabin based on the comparison result.

9. A computing device, characterized in that include: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the on-orbit leak detection method for a spacecraft compartment described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the on-orbit leak detection method for a spacecraft cabin as claimed in any one of claims 1 to 7.

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