Method and device for detecting leaks in spacecraft modules in orbit

Abstract

The application provides a spacecraft cabin section in-orbit leak detection method and device, which is applied to a spacecraft cabin section in-orbit leak detection device, and the method comprises the following steps: the spacecraft cabin section in-orbit leak detection device is arranged at a target position; data collected by each sensor of each array surface within a first preset time period is obtained, and short-time Fourier transform is performed on the data collected by each sensor to obtain initial normal data of each array surface; background data of amplitude variation with time under different frequency bands of each array surface is obtained based on the initial normal data of each array surface; real-time signal characteristics of amplitude variation with time under different frequency bands of each array surface within a second preset time period are obtained based on the initial normal data of each array surface at a predetermined time interval; the background data and the real-time signal characteristics are compared to obtain a comparison result, and a leak position of the spacecraft cabin section is determined based on the comparison result, so that real-time monitoring of a leak state of the spacecraft cabin section and accurate positioning of the leak position are realized.

Description

Technical Field

[0001] The embodiments in this specification relate to the field of spacecraft leak detection technology, and in particular to on-orbit leak detection methods and equipment for spacecraft modules. Background Technology

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

[0003] This research focuses on in-orbit leak detection for large, long-term, multi-module structures such as space stations, cargo ships, and manned spacecraft. Its main characteristics include complex internal structures with multiple layers and cargo accumulation obstructing the cabin walls, hindering the propagation of effective signals and their characteristic frequencies. Simultaneously, the leak signals being measured are broadband, continuous, and weak signals, with frequency shifts occurring between different leaks, including both audible and ultrasonic components. Audible sound signals are affected by background noise within the sealed cabin, while ultrasonic signals are attenuated by cargo accumulation, affecting the penetration and characteristic frequencies of the instruments. Furthermore, real-time, 360-degree monitoring is required. Currently, even after multiple modules are docked and connected for long-term in-orbit deployments, it is still impossible to quickly identify the specific module or cabin that has malfunctioned in the event of an in-orbit leak. The complex structures, the obstruction caused by multiple layers of fabric and cargo, and the noise from complex internal instruments further complicate in-orbit leak detection.

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

[0005] In view of this, embodiments of this specification provide a method for on-orbit leak detection of spacecraft modules. One or more embodiments of this specification also relate to on-orbit leak detection equipment for spacecraft modules, a computing device, a computer-readable storage medium, and a computer program, to address technical deficiencies in the prior art.

[0006] According to a first aspect of the embodiments of this specification, an on-orbit leak detection method for spacecraft modules is provided, applied to an on-orbit leak detection device for spacecraft modules. The device includes at least one air-coupled broadband acoustic cube, wherein eight air-coupled broadband acoustic sensors are disposed 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 an equally divided ring. The method includes:

[0007] When the spacecraft is in the module leak detection phase, the on-orbit leak detection device for the spacecraft module is set at the target location;

[0008] Data collected by each sensor on each array surface within a first preset time period is acquired, and a short-time Fourier transform is performed on the data collected by each sensor to obtain the initial normal data of each array surface.

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

[0010] At predetermined intervals, based on the initial normal data of each array surface, real-time signal characteristics of the amplitude change over time in different frequency bands for each array surface within a second preset time period are obtained.

[0011] The baseline data is compared with the real-time signal characteristics to obtain a comparison result, and the location of the leak in the spacecraft segment is determined based on the comparison result.

[0012] In one possible implementation, when the spacecraft is in the module leak detection phase, the on-orbit leak detection device for the spacecraft module is positioned at the target location, including:

[0013] The spacecraft segment on-orbit leak detection device is suspended from the spacecraft segment to be tested using a shape-adjustable spring. The suspension height of the spacecraft segment on-orbit leak detection device is adjusted so that the spacecraft segment on-orbit leak detection device is centered on the segment to be tested. One end of the shape-adjustable spring is connected to the spacecraft segment on-orbit leak detection device through a plug with three positioning pins, and the other end of the shape-adjustable spring is attached to the segment to be tested with nylon hook and loop fasteners.

[0014] In one possible implementation, background data on the amplitude variation of each array surface over time in different frequency bands is obtained based on the initial normal data of each array surface, including:

[0015] Perform a short-time Fourier transform on each channel signal in the initial normal data of each array surface to obtain the first transformed 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 plane is averaged to obtain the first average value, and the first average value is used as the background data of the amplitude change of each array plane over time in different frequency bands.

[0017] In one possible implementation, the baseline data is compared with the real-time signal characteristics to obtain a comparison result, and the location of the leak in the spacecraft segment is determined based on the comparison result, including:

[0018] When the amplitude value in the real-time signal feature is higher than the average amplitude 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, then the real-time signal feature of the frequency band where the new frequency is located is taken as the target signal feature.

[0019] If the signal features in the preset ground verification database are consistent with the target signal features in terms of frequency features, then the real-time signal features of the array surface corresponding to the new frequency will be re-acquired.

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

[0021] In one possible implementation, the location of the leak is determined based on the first change data of each channel in the leaky array plane, including:

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

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

[0024]

[0025] in, The target signal features are defined as follows: An is the weighting factor, Pi(j)(fn,t) is the first variation data, j is the sensor number on each array surface, f is the frequency, and t is the time. The signal features in the preset ground verification database.

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

[0027] If the signal features in the preset ground verification database do not overlap with the target signal features in terms of frequency band, the real-time signal features of the array surface corresponding to the new frequency are continuously and repeatedly collected, 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 the embodiments of this specification, an on-orbit leak detection device for spacecraft modules is provided, applied to an on-orbit leak detection system for spacecraft modules. The device includes at least one air-coupled broadband acoustic cube, with eight air-coupled broadband acoustic sensors disposed on each array surface of the air-coupled broadband acoustic cube. The eight air-coupled broadband acoustic sensors on the same array surface are arranged in an evenly distributed ring configuration. The device includes:

[0029] The device setting module is used to set the on-orbit leak detection device of the spacecraft segment at the target location when the spacecraft is in the segment leak detection phase.

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

[0031] The background data acquisition module is used to acquire the background data of the amplitude of each array surface changing over time in different frequency bands based on the initial normal data of each array surface;

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

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

[0034] According to a third aspect of the embodiments of this specification, a computing device is provided, comprising:

[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, they implement the steps of the above-described on-orbit leak detection method for spacecraft modules.

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

[0038] According to a fifth aspect of the embodiments of this specification, a computer program is provided, wherein when the computer program is executed in a computer, it causes the computer to perform the steps of the above-described on-orbit leak detection method for spacecraft modules.

[0039] This specification provides an on-orbit leak detection method and device for spacecraft modules. The on-orbit leak detection method is applied to an on-orbit leak detection device for spacecraft modules. The device includes at least one air-coupled broadband acoustic cube. Each array face of the air-coupled broadband acoustic cube is equipped with eight air-coupled broadband acoustic sensors, and the eight air-coupled broadband acoustic sensors on the same array face are arranged in an equally divided ring. The method includes: when the spacecraft is in the module leak detection phase, setting the on-orbit leak detection device for the spacecraft module at a target location; acquiring the data of each sensor on each array face at a first preset time. Data collected within a specified time interval is processed, and a short-time Fourier transform is performed on the data collected by each sensor to obtain initial normal data for each array surface. Based on the initial normal data of each array surface, background data of amplitude variation over time in different frequency bands for each array surface is obtained. At predetermined time intervals, based on the initial normal data of each array surface, real-time signal characteristics of amplitude variation over time in different frequency bands for each array surface within a second predetermined time period are obtained. The background data and the real-time signal characteristics are compared to obtain a comparison result, and the leakage location of the spacecraft segment is determined based on the comparison result. Through the above steps, real-time monitoring of the leakage status of the spacecraft segment and accurate location of the leakage are achieved. Attached Figure Description

[0040] Figure 1 This is a flowchart illustrating an on-orbit leak detection method for a spacecraft module, as provided in one embodiment of this specification.

[0041] Figure 2 This is a schematic diagram of the structure of an on-orbit leak detection device for a spacecraft module provided in one embodiment of this specification;

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

[0043] Figure 4 This is a schematic diagram of the structure of an on-orbit leak detection device for a spacecraft segment provided in one embodiment of this specification;

[0044] Figure 5 This is a structural block diagram of a computing device provided in one embodiment of this specification. Detailed Implementation

[0045] Many specific details are set forth in the following description to provide 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 extensions without departing from the spirit of this specification. Therefore, this specification is not limited to the specific implementations disclosed below.

[0046] The terminology used in one or more embodiments of this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this specification. The singular forms “a” and “the” as used in one or more embodiments of this specification and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as 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, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this specification, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0048] This specification provides a method for on-orbit leak detection of spacecraft modules. It also relates to on-orbit leak detection equipment for spacecraft modules, a computing device, and a computer-readable storage medium, which are described in detail in the following embodiments.

[0049] See Figure 1 , Figure 1 A flowchart of an on-orbit leak detection method for a spacecraft module according to an embodiment of this specification is shown. The method is applied to an on-orbit leak detection device for a spacecraft module. The device includes at least one air-coupled broadband acoustic cube. Each array surface of the air-coupled broadband acoustic cube is provided with eight air-coupled broadband acoustic sensors, and the eight air-coupled broadband acoustic sensors on the same array surface are arranged in an equally divided ring. The method specifically includes the following steps.

[0050] Step 101: When the spacecraft is in the module leak detection phase, set the spacecraft module on-orbit leak detection device at the target location.

[0051] In one possible implementation, when the spacecraft is in the module leak detection phase, the on-orbit leak detection device for the spacecraft module is positioned at the target location, including:

[0052] The spacecraft segment on-orbit leak detection device is suspended from the spacecraft segment to be tested using a shape-adjustable spring. The suspension height of the spacecraft segment on-orbit leak detection device is adjusted so that the spacecraft segment on-orbit leak detection device is centered on the segment to be tested. One end of the shape-adjustable spring is connected to the spacecraft segment on-orbit leak detection device through a plug with three positioning pins, and the other end of the shape-adjustable spring is attached to the segment to be tested with nylon hook and loop fasteners.

[0053] In practical applications, see Figure 2 The spacecraft module's on-orbit leak detection device includes at least one air-coupled broadband acoustic cube, which consists of six array surfaces. Each array surface is equipped with eight air-coupled broadband acoustic sensors, arranged as follows: Figure 2 The array is evenly distributed on the surface of the array and forms a circle, enabling omnidirectional sensing of leakage sound signals propagating along the air.

[0054] Furthermore, the on-orbit leak detection device for spacecraft modules can also include an FPGA core signal processing module, a power supply module, a switch, an external electrical connector, four lithium battery packs, a three-position helical semi-flexible deformable spring, a Wi-Fi communication module, and six alarm lights, such as... Figure 2 As shown, unlike the traditional analog sampling mechanism of ADCs, the sensor is fixed on the circuit board. The array signal lines, power lines, and ground lines are led out using custom connectors, and power and signals are transmitted via a data bus. A plastic plate of the same height as the sensor is covered on the surface of the circuit board to ensure a flush surface. The circuit board is then embedded into the mounting template, allowing it to be mounted as a whole on the measurement model. The independently output signals and power supply are connected to the FPGA core signal processing module for signal processing via flexible cables.

[0055] Six array surfaces are mounted on a structural plate with open pickup holes. Circuit mounting brackets are added to the structural plate, and the six structural plates form a cube. Inside, there is an FPGA core signal processing module, a power supply module, and a Wi-Fi communication module. The structure includes a switch, an external electrical connector, four lithium battery packs, a three-position helical semi-flexible shape-measuring spring suspension, and six alarm lights. One alarm light is located on the top of the lithium battery pack housing, and it is directly plugged into the center of each of the four sides of the cube. An additional alarm light is mounted on the top and bottom surfaces. The electrical connector is located on the bottom structural panel, the switch is located on the front side panel, and the semi-flexible shape-measuring spring suspension is mounted on the top panel of the cube.

[0056] like Figure 3As shown, the FPGA core signal processing module inside the device mainly uses Xilinx 7020 FPGA as the core processing unit. The output plug is connected to the FPGA processor to demodulate the signal. Data analysis and processing are performed 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 light on the center surface to flash alarm and control the WiFi module to transmit.

[0057] The Wi-Fi circuit module, controlled by an FPGA and ARM, transmits raw data, analyzed and interpreted data, and alarm signals to a relay via a Wi-Fi chip. The alarm is then triggered by an alarm light on the relay. The main unit module uses the AW859A Wi-Fi chip, supporting IEEE 802.11a / b / g / n / ac for signal transmission and adds alarm data switching signal transmission, such as... Figure 3 As shown.

[0058] The power supply module's main functions include converting the 9-12V power supply from the lithium battery to the 5V / ±12V power required by the FPGA board and sensor board; remotely measuring the battery voltage and temperature; and simultaneously performing AD acquisition of the ultrasonic signals output from the sensor board and DA conversion of the audio signals. The power board mainly includes a fuse protection circuit, surge suppression circuit, power conversion circuit, AD conversion circuit, audio conversion circuit, and battery voltage / temperature telemetry circuit. The power board block diagram is shown below. Figure 3 .

[0059] The power conversion circuit uses the LINEAR LTM4644 voltage regulator to convert the 9-12V power supply to +5V and +3.3V. Simultaneously, the LT3582 power converter is used to convert the +5V output from the LTM4644 to ±12V, powering the FPGA board and sensor board respectively. The LTM4644 has an input voltage range of +4 to 14V, an output voltage of +5V, a rated operating current of 4A, an actual operating current not exceeding 2A, and an operating temperature range of -40 to +125℃. The LT3582 has an input voltage range of +3 to 12V, an output voltage of ±12V, a rated operating current of 300mA, an actual operating current not exceeding 20mA, and an operating temperature range of -40 to +125℃. The power supply interface design mainly involves the self-powered battery interface, the external power supply interface, and the power board's input / output interfaces. The battery power supply interface uses a two-pin positive and negative DC power supply method, which is in the form of a connector; while the power board has two forms of power supply: battery power supply and external power supply. The voltage is converted through a conversion circuit and transmitted to other circuits.

[0060] The battery pack uses 18650 lithium batteries, powered by 12VDC, with a capacity exceeding 3000mAh, connected in a 3-cell series configuration using Y36A connectors. During charging, the batteries are removed and replaced through side slots, and charging is performed externally using an on-orbit leak detector charger. Each battery cell has a cylindrical, fully sealed structure, consisting of a positive terminal, negative terminal, separator, safety valve, PTC (positive temperature control terminal), and battery casing. The battery design incorporates a negative terminal-over-casing design, where the battery casing itself serves as the negative terminal. Insulation measures are implemented between the positive terminal and the casing. The 18650 battery dimensions are: diameter 18mm, height 65mm, and weight 45g–49g.

[0061] The adjustable spring suspension is made of rigid single-core 3mm diameter thick copper cable, which can be stretched and compressed by hand to maintain its shape and position, allowing for adjustable positioning. The top disc has a nylon hook and loop fastener for direct attachment. The bottom has a plug with three positioning pins that can be inserted directly into the positioning slots at the top of the device to secure it and complete the suspension.

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

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

[0064] Specifically, starting from power-on, a background noise test is conducted for 1 minute. Each sensor on each array face is tested, and the data is stored at each address in memory. The data from the 8 sensors on each array face are analyzed, and the time spectrum data obtained from the real-time short-time Fourier transform for 1 minute is stored in memory as the initial normal data for each array face. At the same time, each channel signal is denoted as Fi(j), where i is the array face number, with a value range of 0-5; j is the sensor number on each array face, with a value range of 0-7.

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

[0066] In one possible implementation, background data on the amplitude variation of each array surface over time in different frequency bands is obtained based on the initial normal data of each array surface, including:

[0067] Perform a short-time Fourier transform on each channel signal in the initial normal data of each array surface to obtain the first transformed 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 plane is averaged to obtain the first average value, and the first average value is used as the background data of the amplitude change of each array plane over time in different frequency bands.

[0069] In practical applications, a short-time Fourier transform (SFT) is performed on the signal Fi(j) of each channel in the initial normal data of each array surface. The frequency amplitude changes over time through the SFT. The data obtained after the SFT of each channel is used as the first change data and denoted as Pi(j)(f,t), where i and j are recorded in the same way as the sensor channels, f is the frequency, and t is the time. After introducing time information, the amplitude and duration reflected at each major frequency can be recorded. Simultaneously, the average value of the first change data from all eight channels is summed and calculated as... And it serves as the background information for the amplitude variation over time in different frequency bands of the array surface.

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

[0071] Specifically, considering the need for long-term monitoring of spacecraft modules, and for power control, a 10-minute test is performed every 30 minutes. The detection of the real-time signal characteristics of the amplitude variation over time for each array surface in different frequency bands is performed in the same way as when acquiring the first change data. The detected real-time signal characteristics of the amplitude variation over time for 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 location of the spacecraft segment based on the comparison result.

[0073] In one possible implementation, the baseline data is compared with the real-time signal characteristics to obtain a comparison result, and the location of the leak in the spacecraft segment is determined based on the comparison result, including:

[0074] When the amplitude value in the real-time signal feature is higher than the average amplitude 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, then the real-time signal feature of the frequency band where the new frequency is located is taken as the target signal feature.

[0075] If the signal features in the preset ground verification database are consistent with the target signal features in terms of frequency features, then the real-time signal features of the array surface corresponding to the new frequency will be re-acquired.

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

[0077] In one possible implementation, the location of the leak is determined based on the first change data of each channel in the leaky array plane, including:

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

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

[0080]

[0081] in, The target signal features are defined as follows: An is the weighting factor, Pi(j)(fn,t) is the first variation data, j is the sensor number on each array surface, f is the frequency, and t is the time. The signal features in the preset ground verification database.

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

[0083] If the signal features in the preset ground verification database do not overlap with the target signal features in terms of frequency band, the real-time signal features of the array surface corresponding to the new frequency are continuously and repeatedly collected, 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 the cases and record those where a new frequency appears and the duration remains constant or persists after it occurs. That is, the real-time signal characteristics of the array surface corresponding to the new frequency are used to initially determine that there may be a suspected leakage. Then, this data is compared with the signal characteristics in the preset ground verification database. If a comparison is made and frequency characteristics are consistent, it is listed as a target signal feature 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 acoustic array, and the channel with the largest change in the first data is taken as the leakage direction.

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

[0087] This specification provides an on-orbit leak detection method and device for spacecraft modules. The on-orbit leak detection method is applied to an on-orbit leak detection device for spacecraft modules. The device includes at least one air-coupled broadband acoustic cube. Each array face of the air-coupled broadband acoustic cube is equipped with eight air-coupled broadband acoustic sensors, and the eight air-coupled broadband acoustic sensors on the same array face are arranged in an equally divided ring. The method includes: when the spacecraft is in the module leak detection phase, setting the on-orbit leak detection device for the spacecraft module at a target location; acquiring the data of each sensor on each array face at a first preset time. Data collected within a specified time interval is processed, and a short-time Fourier transform is performed on the data collected by each sensor to obtain initial normal data for each array surface. Based on the initial normal data of each array surface, background data of amplitude variation over time in different frequency bands for each array surface is obtained. At predetermined time intervals, based on the initial normal data of each array surface, real-time signal characteristics of amplitude variation over time in different frequency bands for each array surface within a second predetermined time period are obtained. The background data and the real-time signal characteristics are compared to obtain a comparison result, and the leakage location of the spacecraft segment is determined based on the comparison result. Through the above steps, real-time monitoring of the leakage status of the spacecraft segment and accurate location of the leakage are achieved.

[0088] Corresponding to the above method embodiments, this specification also provides embodiments of on-orbit leak detection equipment for spacecraft modules. Figure 4 This specification illustrates a schematic diagram of an on-orbit leak detection device for a spacecraft module according to one embodiment. The device is used in on-orbit leak detection for spacecraft modules. The device includes at least one air-coupled broadband acoustic cube. Each array face of the air-coupled broadband acoustic cube is equipped with eight air-coupled broadband acoustic sensors, and the eight air-coupled broadband acoustic sensors on the same array face are arranged in an evenly distributed ring. Figure 4 As shown, the device includes:

[0089] The device setting module 401 is used to set the spacecraft segment on-orbit leak detection device at the target location when the spacecraft is in the segment leak detection stage.

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

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

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

[0093] The leakage location 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 location of the spacecraft segment based on the comparison result.

[0094] The above is a schematic scheme of an on-orbit leak detection device for spacecraft modules according to this embodiment. It should be noted that the technical solution of this on-orbit leak detection device for spacecraft modules belongs to the same concept as the technical solution of the on-orbit leak detection method for spacecraft modules described above. For details not described in detail in the technical solution of the on-orbit leak detection device for spacecraft modules, please refer to the description of the technical solution of the on-orbit leak detection method for spacecraft modules described above.

[0095] Figure 5 A structural block diagram of a computing device 400 according to one embodiment of this 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 a database 450 is used to store data.

[0096] The computing device 400 also includes an access device 440, which enables the computing device 400 to communicate via one or more networks 460. Examples of these networks include Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or combinations of communication networks such as the Internet. The access device 440 may include one or more of any type of wired or wireless network interface (e.g., a network interface card (NIC)), such as an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, a Wi-MAX (Worldwide Interoperability for Microwave Access) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, or a Near Field Communication (NFC) interface.

[0097] In one embodiment of this specification, the aforementioned components of the computing device 400 and Figure 5 Other components, not shown, can also be connected to each other, for example, via a bus. It should be understood that... Figure 5 The block diagram of the computing device shown is for illustrative purposes only 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] Computing device 400 can be any type of stationary or mobile computing device, including mobile computers or mobile computing devices (e.g., tablet computers, personal digital assistants, laptop computers, notebook computers, netbooks, etc.), mobile phones (e.g., smartphones), wearable computing devices (e.g., smartwatches, smart glasses, etc.) or other types of mobile devices, or stationary computing devices such as desktop computers or personal computers (PCs). Computing device 400 can also be a mobile or stationary server.

[0099] The processor 420 executes computer-executable instructions, which, when executed by the processor, implement the steps of the aforementioned on-orbit leak detection method for spacecraft modules. The above is a schematic representation of a computing device according to this embodiment. It should be noted that the technical solution of this computing device and the technical solution of the aforementioned on-orbit leak detection method for spacecraft modules belong to the same concept. Details not described in detail in the technical solution of the computing device can be found in the description of the technical solution of the aforementioned on-orbit leak detection method for spacecraft modules.

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

[0101] The above is an illustrative scheme of a computer-readable storage medium according to this embodiment. It should be noted that the technical solution of this storage medium belongs to the same concept as the technical solution of the above-described on-orbit leak detection method for spacecraft modules. For details not described in detail in the technical solution of the storage medium, please refer to the description of the technical solution of the above-described on-orbit leak detection method for spacecraft modules.

[0102] An embodiment of this specification also provides a computer program, wherein when the computer program is executed in a computer, it causes the computer to perform the steps of the above-described on-orbit leak detection method for spacecraft modules.

[0103] The above is an illustrative scheme of a computer program according to this embodiment. It should be noted that the technical solution of this computer program and the technical solution of the above-described on-orbit leak detection method for spacecraft modules belong to the same concept. For details not described in detail in the technical solution of the computer program, please refer to the description of the technical solution of the above-described on-orbit leak detection method for spacecraft modules.

[0104] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0105] The computer instructions include computer program code, which may be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium may be appropriately added to or subtracted 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 may not include electrical carrier signals and telecommunication signals.

[0106] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments in this specification are not limited to the described order of actions, because according to the embodiments in this specification, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the embodiments in this specification.

[0107] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0108] The preferred embodiments disclosed above are merely illustrative of this specification. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the embodiments described herein. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the embodiments, thereby enabling those skilled in the art to better understand and utilize this specification. This specification is limited only by the claims and their full scope and equivalents.

Claims

1. A method for on-orbit leak detection of spacecraft modules, characterized in that, An on-orbit leak detection device for spacecraft modules, the device comprising at least one air-coupled broadband acoustic cube, wherein eight air-coupled broadband acoustic sensors are disposed on each array face of the air-coupled broadband acoustic cube, and the eight air-coupled broadband acoustic sensors on the same array face are arranged in an equally divided ring. The method includes: When the spacecraft is in the module leak detection phase, the on-orbit leak detection device for the spacecraft module is set at the target location; Data collected by each sensor on each array surface within a first preset time period is acquired, and a short-time Fourier transform is performed on the data collected by each sensor to obtain the initial normal data of each array surface. Based on the initial normal data of each array surface, obtain the background data of the amplitude of each array surface changing over time in different frequency bands; At predetermined intervals, based on the initial normal data of each array surface, real-time signal characteristics of the amplitude change over time in different frequency bands for each array surface within a second preset time period are obtained. The baseline data is compared with the real-time signal characteristics to obtain a comparison result, and the location of the leak in the spacecraft segment is determined based on the comparison result, including: When the amplitude value in the real-time signal feature is higher than the average amplitude 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, then the real-time signal feature of the frequency band where the new frequency is located is taken as the target signal feature. If the signal features in the preset ground verification database are consistent with the target signal features in terms of frequency features, then the real-time signal features of the array surface corresponding to the new frequency will be re-acquired. If the new frequency still exists in the re-acquired real-time signal features, then there is leakage in the array plane corresponding to the new frequency, and the leakage location is determined based on the first change data of each channel in the array plane with leakage.

2. The method according to claim 1, characterized in that, When the spacecraft is in the module leak detection phase, the on-orbit leak detection device for the spacecraft module is set at the target location, including: The spacecraft segment on-orbit leak detection device is suspended from the spacecraft segment to be tested using a shape-adjustable spring. The suspension height of the spacecraft segment on-orbit leak detection device is adjusted so that the spacecraft segment on-orbit leak detection device is centered on the segment to be tested. One end of the shape-adjustable spring is connected to the spacecraft segment on-orbit leak detection device through a plug with three positioning pins, and the other end of the shape-adjustable spring is attached to the segment to be tested with nylon hook and loop fasteners.

3. The method according to claim 1, characterized in that, Based on the initial normal data of each array surface, the baseline data of the amplitude variation of each array surface over time in different frequency bands is obtained, including: Perform a short-time Fourier transform on each channel signal in the initial normal data of each array surface to obtain the first transformed 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 plane is averaged to obtain the first average value, and the first average value is used as the background data of the amplitude change of each array plane over time in different frequency bands.

4. The method according to claim 1, characterized in that, The location of the leak is determined based on the first change data of each channel in the array plane where the leak exists, including: The first change data of each channel in the array plane with leakage is compared, and the channel with the largest first change data is taken as the direction of leakage.

5. The method according to claim 1, characterized in that, The signal features in the preset ground verification database and the target signal features are obtained based on the following formulas, including: ； ； in, The target signal features are defined as follows: An is the weighting factor, Pi(j)(fn,t) is the first variation data, j is the sensor number on each array surface, f is the frequency, and t is the time. The signal features in the preset ground verification database.

6. The method according to claim 1, characterized in that, The method further includes: If the signal features in the preset ground verification database do not overlap with the target signal features in terms of frequency band, the real-time signal features of the array surface corresponding to the new frequency are continuously and repeatedly collected, and the frequency band feature points and amplitudes in the target signal features are written into the preset ground verification database.

7. An on-orbit leak detection device for spacecraft modules, characterized in that, An on-orbit leak detection device for spacecraft modules, the device comprising at least one air-coupled broadband acoustic cube, wherein eight air-coupled broadband acoustic sensors are disposed on each array face of the air-coupled broadband acoustic cube, and the eight air-coupled broadband acoustic sensors on the same array face are arranged in an equally divided ring. The device includes: The device setting module is used to set the on-orbit leak detection device of the spacecraft segment at the target location when the spacecraft is in the segment leak detection phase. The initial transformation module is used to acquire the data collected by each sensor of each array surface within a first preset time period, and to perform a short-time Fourier transform on the data collected by each sensor to obtain the initial normal data of each array surface. The background data acquisition module is used to acquire the background data of the amplitude of each array surface changing over time in different frequency bands based on the initial normal data of each array surface; The real-time signal feature acquisition module is used to acquire, at predetermined intervals, the real-time signal features of the amplitude of each array surface in different frequency bands within a second preset time period, based on the initial normal data of each array surface. A leak location determination module is used to compare the background data with the real-time signal characteristics to obtain a comparison result, and to determine the leak location of a spacecraft segment based on the comparison result, including: When the amplitude value in the real-time signal feature is higher than the average amplitude 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, then the real-time signal feature of the frequency band where the new frequency is located is taken as the target signal feature. If the signal features in the preset ground verification database are consistent with the target signal features in terms of frequency features, then the real-time signal features of the array surface corresponding to the new frequency will be re-acquired. If the new frequency still exists in the re-acquired real-time signal features, then there is leakage in the array plane corresponding to the new frequency, and the leakage location is determined based on the first change data of each channel in the array plane with leakage.

8. 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, which, when executed by the processor, implement the steps of the on-orbit leak detection method for spacecraft modules according to any one of claims 1 to 6.

9. A computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the on-orbit leak detection method for spacecraft modules according to any one of claims 1 to 6.

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