Solar wing unfolding state detection method and device, electronic equipment and storage medium

Abstract

The invention discloses a solar wing unfolding state detection method and device, electronic equipment and a storage medium. The solar wing unfolding state detection method comprises the following steps: acquiring a depth-of-field image of a solar wing; extracting feature point information of the solar wing in the depth image; wherein the feature point information comprises pixel positions of feature points and depth data of the feature points; determining the unfolding state of the solar wing according to the pixel positions of the feature points, the depth data of the feature points and an unfolding state model; wherein the unfolding state model is a relation model between the unfolding state of the solar wing and the feature point information. According to the embodiment of the invention, the unfolding state of the solar wing is detected through the depth image in the unfolding process of the solar wing, and the whole-process monitoring of the unfolding process of the solar wing is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a method, device, electronic equipment and storage medium for detecting the deployment status of a solar wing. Background Art

[0002] The solar wing is a collection of solar cell arrays, deployment mechanisms, etc. The solar cell array uses the photoelectric effect to convert sunlight into electrical energy, which is the energy guarantee for the stable operation of spacecraft in orbit. Whether the solar wing can be deployed according to the design determines the health of the spacecraft's solar wing, and also determines the energy supply level of the spacecraft and whether it can complete its in-orbit mission and lifespan. It is very important to monitor the deployment process of the solar wing in orbit and judge the deployment status.

[0003] In the prior art, the deployment status detection of the solar wing is mainly achieved through a micro switch and a deployment indication circuit, and it can only detect the deployment status information of the solar wing, but cannot monitor the deployment process of the solar wing. Summary of the invention

[0004] The present invention provides a solar wing deployment state detection method, device, electronic equipment and storage medium to achieve comprehensive monitoring of the solar wing deployment process.

[0005] According to one aspect of the present invention, a method for detecting the unfolded state of a solar wing is provided, wherein the solar wing is set with a plurality of characteristic points; the method for detecting the unfolded state of the solar wing comprises:

[0006] Acquiring a depth image of the solar wing;

[0007] Extracting feature point information of the solar wing in the depth image; wherein the feature point information includes the pixel position of the feature point and the depth data of the feature point;

[0008] The unfolding state of the solar wing is determined according to the pixel position of the feature point, the depth data of the feature point and the unfolding state model; wherein the unfolding state model is a relationship model between the unfolding state of the solar wing and the feature point information.

[0009] Optionally, the specific method of extracting the feature point information of the solar wing in the depth image includes:

[0010] Acquire a solar wing profile in the depth image;

[0011] Determining feature points of the solar wing in the depth image according to the solar wing profile;

[0012] The pixel positions of the feature points and the depth data of the feature points are determined according to the feature points of the solar wing.

[0013] Optionally, the specific method of determining the feature points of the solar wing in the depth image according to the solar wing profile includes:

[0014] Determine two distal corner points of the distal end of the solar wing according to the solar wing profile; wherein the distal corner points are corner points on the side of the solar wing away from the solar wing fixing point;

[0015] Determine the distal center point of the solar wing according to the distal corner point;

[0016] Determine at least two equally divided points according to the distal center point and the solar wing fixing point;

[0017] The distal corner point, the distal center point and the equally divided point are used as characteristic points of the solar wing.

[0018] Optionally, the specific method of obtaining the unfolded state model includes:

[0019] Acquire multiple deployment states of the solar wing in ground testing, deployment depth images of the solar wing in different deployment states, and an initial model;

[0020] Extracting feature point information of the solar wing in each of the unfolded depth images;

[0021] Establishing a machine learning training set according to the feature point information of each solar wing and the unfolding state of each solar wing; wherein the feature point information of the solar wing in the machine learning training set corresponds one to one with the unfolding state of the solar wing;

[0022] The initial model is trained according to the machine learning training set to establish the unfolded state model.

[0023] Optionally, the specific method for extracting the feature point information of the solar wing in each of the unfolded depth images includes:

[0024] Acquire a solar wing profile in the unfolded depth image;

[0025] Determine the feature points of the solar wing in the unfolded depth image according to the solar wing contour in the unfolded depth image;

[0026] The feature point information is determined according to the feature points of the solar wing.

[0027] Optionally, before acquiring the depth image of the solar wing, the method further includes:

[0028] Obtaining the unlocking status of the solar wing;

[0029] If the solar wing is unlocked, obtaining a depth image of the solar wing;

[0030] If the solar wing is not unlocked, the unlocking state of the solar wing is reacquired.

[0031] Optionally, the unfolded state of the solar wing includes: the unfolded position of the solar wing, the unfolded angle of the solar wing and the unfolded size of the solar wing.

[0032] According to another aspect of the present invention, a solar wing deployment state detection device is also provided, the solar wing deployment state detection device comprising: an image acquisition module, a processing control module and a calculation module;

[0033] The image acquisition module is used to obtain a depth image of the solar wing;

[0034] The processing control module is used to extract feature point information of the solar wing in the depth image;

[0035] The calculation module is used to determine the unfolding state of the solar wing according to the feature point information and the unfolding state model; wherein the unfolding state model is a relationship model between the unfolding state of the solar wing and the feature point information.

[0036] According to another aspect of the present invention, there is also provided an electronic device, the electronic device comprising:

[0037] at least one processor; and

[0038] a memory communicatively connected to the at least one processor; wherein,

[0039] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the solar wing deployment status detection method described in any of the above embodiments.

[0040] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the solar wing deployment status detection method described in any of the above embodiments when executed.

[0041] The embodiment of the present invention obtains characteristic point information of the solar wing through the depth image when the solar wing is unfolded, and detects the unfolded state of the solar wing according to the characteristic point information of the solar wing and the unfolded state model of the solar wing. The embodiment of the present invention detects the unfolded state of the solar wing through the depth image of the solar wing during the unfolding process, which is conducive to realizing the whole process monitoring of the unfolding process of the solar wing.

[0042] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 is a flow chart of a method for detecting the deployment state of a solar wing provided by an embodiment of the present invention;

[0045] Figure 2 is a schematic diagram of camera settings when a solar wing is folded, provided by an embodiment of the present invention;

[0046] Figure 3 is a schematic diagram of camera settings when a solar wing is unfolded, provided by an embodiment of the present invention;

[0047] Figure 4 is a flow chart of another method for detecting the deployment state of a solar wing provided by an embodiment of the present invention;

[0048] Figure 5 is a flow chart of a method for acquiring a deployment state model of a solar wing provided by an embodiment of the present invention;

[0049] Figure 6 is a flow chart of another method for detecting the deployment state of a solar wing provided by an embodiment of the present invention;

[0050] Figure 7 is a schematic diagram of a solar wing deployment state detection device provided by an embodiment of the present invention;

[0051] Figure 8 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0053] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0054] The embodiment of the present invention provides a method for detecting the deployment state of a solar wing. The method for detecting the deployment state of a solar wing is applied to a spacecraft. The embodiment detects the deployment state of the solar wing through the feature point information of the solar wing in the depth image when the solar wing is deployed and the deployment state model of the solar wing, which is conducive to realizing comprehensive monitoring of the deployment process of the solar wing. Figure 1 1 is a flow chart of a method for detecting the deployment state of a solar wing provided by an embodiment of the present invention. Figure 1 , the solar wing deployment state detection method includes:

[0055] S110, obtaining a depth image of the solar wing.

[0056] Specifically, the depth image of the solar wing can be obtained by a time of flight (TOF) camera. Among them, the time of flight camera is an imaging device that determines the distance by measuring the flight (round trip) time of a light pulse. The depth image of the solar wing contains the depth data of the solar wing. The shooting of the depth image of the solar wing needs to ensure that the complete image of the solar wing can be obtained when the solar wing is fully deployed. Figure 2 It is a schematic diagram of camera settings when the solar wings are folded, provided by an embodiment of the present invention. Figure 3 1 is a schematic diagram of camera settings when a solar wing is unfolded, provided by an embodiment of the present invention. Figure 2 and Figure 3 ,When setting up the camera, it needs to be installed at a certain angle to the solar wing to ensure that a complete image of the solar wing is obtained and the camera’s field of view is maximized.

[0057] S120, extracting feature point information of the solar wing in the depth image; wherein the feature point information includes the pixel position of the feature point and the depth data of the feature point.

[0058] Specifically, a plurality of feature points are provided in the solar wing. When the solar wing is in different unfolding states, the position and depth data of each feature point in the depth image of the solar wing are different. Therefore, when acquiring the feature point information of the solar wing, it is necessary to identify the feature points in the depth image of the solar wing. The number of feature points of the solar wing can be determined according to actual needs. For example, the number of feature points can be five.

[0059] S130. Determine the deployment state of the solar wing according to the pixel position of the feature point, the depth data of the feature point and the deployment state model; wherein the deployment state model is a relationship model between the deployment state of the solar wing and the feature point information.

[0060] Exemplarily, the feature point information is normalized, and the pixel position, depth data, etc. of the feature point are scaled according to a certain range (such as normalized to the interval of 0-1) to ensure that the data of different dimensions are relatively balanced in magnitude. The processed feature point information is input into the unfolding state model according to the input method required by the unfolding state model, so as to obtain the unfolding state of the solar wing. Exemplarily, the unfolding state of the solar wing includes: the unfolding position of the solar wing, the unfolding angle of the solar wing, and the unfolding size of the solar wing.

[0061] The embodiment of the present invention obtains characteristic point information of the solar wing through the depth image when the solar wing is unfolded, and detects the unfolded state of the solar wing according to the characteristic point information of the solar wing and the unfolded state model of the solar wing. The embodiment of the present invention detects the unfolded state of the solar wing through the depth image of the solar wing during the unfolding process, which is conducive to realizing the whole process monitoring of the unfolding process of the solar wing.

[0062] Figure 4 is a flow chart of another method for detecting the unfolding state of a solar wing provided by an embodiment of the present invention. Figure 4 ,The specific method of extracting the feature point information of the solar wing in the depth image includes:

[0063] S121. Obtain the solar wing outline in the depth image.

[0064] Exemplarily, the depth image is subjected to noise reduction and smoothing processing. The gradient magnitude and direction of each pixel in the processed depth image are calculated, and for each pixel, the gradient magnitude is compared with that of the adjacent pixel along its gradient direction, and the local maximum value of the pixel in the depth image is marked as an edge pixel, and the contour of the solar wing is determined based on the edge pixel.

[0065] S122. Determine feature points of the solar wing in the depth image according to the solar wing contour.

[0066] Specifically, two distal corner points of the distal end of the solar wing are determined according to the contour of the solar wing. The distal corner point is the corner point of the solar wing on the side away from the fixed point of the solar wing. Exemplarily, when determining the distal corner point, the various corner points of the solar wing can be determined first, and after determining the various corner points of the solar wing, the distal corner point of the solar wing is determined according to the fixed point of the solar wing. The corner point of the solar wing can be determined by calculating the local autocorrelation matrix of each pixel in the image, and then judging whether the pixel is a corner point according to the eigenvalue of this matrix.

[0067] After determining the distal corner point of the solar wing, the midpoint of the line connecting the two distal corner points of the solar wing is used as the distal center point of the solar wing. The distal center point of the solar wing and the solar wing fixed point are located on the same straight line. The line connecting the distal center point of the solar wing and the solar wing fixed point is divided into at least three equal sections, thereby obtaining at least two equally divided points. The distal corner point of the solar wing, the distal center point of the solar wing and the equally divided point of the solar wing are the characteristic points of the solar wing.

[0068] S123. Determine the pixel position of the feature point and the depth data of the feature point according to the feature point of the solar wing.

[0069] Specifically, when the feature points of the solar wing are identified, the pixel positions of the pixels of each feature point in the depth image of the solar wing are calculated. The depth image of the solar wing contains the depth data of the solar wing, that is, each pixel in the depth image has corresponding depth data, and the depth data of the feature point pixels is obtained as the depth data of the feature point.

[0070] Figure 5 is a flow chart of a method for acquiring a solar wing deployment state model provided by an embodiment of the present invention. Figure 5 , the specific methods for obtaining the expanded state model include:

[0071] S131. Acquire multiple deployment states of the solar wing in ground testing, deployment depth images of the solar wing in different deployment states, and an initial model.

[0072] Specifically, the solar wing is unfolded to different states, that is, the solar wing is set to different postures, the unfolded states of the solar wing in various postures are measured, and the unfolded depth images of the solar wing in various postures are captured.

[0073] S132, extracting feature point information of the solar wing in each unfolded depth image.

[0074] Specifically, a plurality of feature points are provided in the solar wing, and when the solar wing is in different unfolding states, the position of each feature point in the depth image of the solar wing is different. Therefore, when obtaining the feature point information of the solar wing, it is necessary to identify the feature points in the depth image of the solar wing. The contour of the solar wing in the unfolded depth image is identified, and the feature points of the solar wing in the unfolded depth image are determined based on the contour of the solar wing in the unfolded depth image. When the feature points of the solar wing are identified, the pixel position of each feature point pixel in the depth image of the solar wing is calculated. The depth image of the solar wing contains the depth data of the solar wing, that is, each pixel point in the depth image has corresponding depth data, and the depth data of the feature point pixel is obtained as the depth data of the feature point.

[0075] S133. Establish a machine learning training set based on the feature point information of each solar wing and the unfolding state of each solar wing; wherein the feature point information of the solar wing in the machine learning training set corresponds one to one to the unfolding state of the solar wing.

[0076] Specifically, the unfolded depth images of the solar wing in different postures are matched with the unfolded states, and the feature point depth data and the unfolded states determined by the matched unfolded depth images are used as training data in a machine learning training set.

[0077] S134. Train the initial model according to the machine learning training set to establish the unfolded state model.

[0078] Specifically, the initial model processes and analyzes the training data in the machine learning training set based on its preset algorithm architecture and mathematical model. For example, the neural network algorithm in deep learning is used to pass and transform the training data layer by layer, receive the feature point information of the solar wing from the input layer, and after multiple feature extraction and abstraction of the hidden layer, the potential mapping relationship and regular pattern between the feature point information and the deployment state are excavated, thereby obtaining the relationship between the feature point information of the solar wing and the deployment state.

[0079] Figure 6 is a flow chart of another method for detecting the unfolding state of a solar wing provided by an embodiment of the present invention. Figure 6 , before obtaining the depth image of the solar wing, it also includes:

[0080] S140. Obtain the unlocking status of the solar wing.

[0081] Specifically, before the spacecraft enters the preset orbit, the solar wing of the spacecraft is in a locked state. Depending on the design requirements of the spacecraft, the type of locking structure of the solar wing is also different. For example, the locking structure of the solar wing can be a pyrotechnic structure, a hot knife mechanism, or a memory alloy pin puller. When applied, the unlocking state of the solar wing can be judged according to the working state of the locking mechanism of the solar wing.

[0082] S150, determine whether the solar wing is unlocked; if so, execute S110; if not, execute S160.

[0083] Specifically, when the solar wing is unlocked, a depth image of the solar wing is obtained, and the unfolding state of the solar wing is detected based on the depth image of the solar wing; when the solar wing is not unlocked, the unlocking state of the solar wing is reacquired.

[0084] S160: Re-obtain the unlocking status of the solar wing.

[0085] An embodiment of the present invention also provides a solar wing deployment status detection device. Figure 7 Schematic diagram of a solar wing deployment state detection device provided by an embodiment of the present invention. Figure 7 The solar wing deployment state detection device 1000 includes: an image acquisition module 110, a processing control module 120 and a calculation module 130.

[0086] The image acquisition module 110 is used to obtain the depth image of the solar wing; the processing and control module 120 is used to extract the feature point information of the solar wing in the depth image; the calculation module 130 is used to determine the deployment state of the solar wing based on the feature point information and the deployment state model; wherein the deployment state model is a relationship model between the deployment state of the solar wing and the feature point information.

[0087] Exemplarily, the image acquisition module 110, the processing control module 120 and the computing module 130 are connected in sequence. The solar wing deployment state detection device can be applied to a spacecraft, the computing module 130 can be a satellite computer, and the image acquisition module 110 can be a flight camera. When the computing module 130 is a satellite computer, since the location of the satellite computer of the spacecraft is often far away from the solar wing, the processing control module 120 and the computing module 130 can be connected via an RS422 or RS485 communication bus.

[0088] It should be noted that the solar wing deployment status detection device 1000 provided in this embodiment has the beneficial effects of the solar wing deployment status detection method provided in any of the above embodiments, which will not be repeated here.

[0089] Figure 8: is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0090] like Figure 8 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0091] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0092] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for detecting the deployment state of a solar wing.

[0093] In some embodiments, the solar wing deployment state detection method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the solar wing deployment state detection method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the solar wing deployment state detection method in any other appropriate manner (for example, by means of firmware).

[0094] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0095] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0096] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0097] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0098] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0099] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0100] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0101] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for detecting the deployment state of a solar wing, characterized in that: The solar wing deployment state detection method comprises: Acquiring a depth image of the solar wing; Extracting feature point information of the solar wing in the depth image; wherein the feature point information includes the pixel position of the feature point and the depth data of the feature point; The unfolding state of the solar wing is determined according to the pixel position of the feature point, the depth data of the feature point and the unfolding state model; wherein the unfolding state model is a relationship model between the unfolding state of the solar wing and the feature point information.

2. The method for detecting the deployment state of a solar wing according to claim 1, characterized in that: The specific method for extracting the feature point information of the solar wing in the depth image includes: Acquire a solar wing profile in the depth image; Determining feature points of the solar wing in the depth image according to the solar wing profile; The pixel positions of the feature points and the depth data of the feature points are determined according to the feature points of the solar wing.

3. The method for detecting the deployment state of a solar wing according to claim 2, characterized in that: The specific method for determining the feature points of the solar wing in the depth image according to the solar wing profile includes: Determine two distal corner points of the distal end of the solar wing according to the solar wing profile; wherein the distal corner points are corner points on the side of the solar wing away from the solar wing fixing point; Determine the distal center point of the solar wing according to the distal corner point; Determine at least two equally divided points according to the distal center point and the solar wing fixing point; The distal corner point, the distal center point and the equally divided point are used as characteristic points of the solar wing.

4. The method for detecting the deployment state of a solar wing according to claim 1, characterized in that: The specific method of obtaining the unfolded state model includes: Acquire multiple deployment states of the solar wing in ground testing, deployment depth images of the solar wing in different deployment states, and an initial model; Extracting feature point information of the solar wing in each of the unfolded depth images; Establishing a machine learning training set according to the feature point information of each solar wing and the unfolding state of each solar wing; wherein the feature point information of the solar wing in the machine learning training set corresponds one to one with the unfolding state of the solar wing; The initial model is trained according to the machine learning training set to establish the unfolded state model.

5. The method for detecting the deployment state of a solar wing according to claim 4, characterized in that: The specific method for extracting the feature point information of the solar wing in each of the unfolded depth images includes: Acquire a solar wing profile in the unfolded depth image; Determine the feature points of the solar wing in the unfolded depth image according to the solar wing contour in the unfolded depth image; The feature point information is determined according to the feature points of the solar wing.

6. The method for detecting the deployment state of a solar wing according to claim 1, characterized in that: Before acquiring the depth image of the solar wing, the method further includes: Obtaining the unlocking status of the solar wing; If the solar wing is unlocked, obtaining a depth image of the solar wing; If the solar wing is not unlocked, the unlocking state of the solar wing is reacquired.

7. The method for detecting the deployment state of a solar wing according to any one of claims 1 to 6, characterized in that: The unfolded state of the solar wing includes: the unfolded position of the solar wing, the unfolded angle of the solar wing and the unfolded size of the solar wing.

8. A solar wing deployment state detection device, characterized in that: include: Image acquisition module, processing control module and calculation module; The image acquisition module is used to obtain a depth image of the solar wing; The processing control module is used to extract feature point information of the solar wing in the depth image; The calculation module is used to determine the unfolding state of the solar wing according to the feature point information and the unfolding state model; wherein the unfolding state model is a relationship model between the unfolding state of the solar wing and the feature point information.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the solar wing deployment status detection method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the solar wing deployment status detection method described in any one of claims 1-7 when executed.

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