Controllable separation type autonomous attitude control imaging system for space application

Abstract

The invention relates to a controllable separation type autonomous attitude control imaging system for space application. The controllable separation type autonomous attitude control imaging system comprises a separation unlocking mechanism, a main detector and a main detector, the imaging recognition assembly is used as a remote sensor load on the separation load, performs real-time image target recognition, obtains and obtains image data, outputs the image data to the posture adjustment assembly, and transmits the image data back to the main detector through the wireless communication assembly; the attitude adjustment assembly receives the image data output by the imaging recognition assembly, measures the real-time attitude of the separation load, and adjusts the real-time attitude of the separation load according to the image data and the real-time attitude of the separation load; the wireless communication assembly is used for image data transmission between the imaging identification assembly and the main detector. The method is small in resource demand, good in deployability and convenient to use.

Description

Technical Field

[0001] This invention relates to a controllable detachable autonomous attitude control imaging system for space applications, and more particularly to a lightweight and detachable imaging system that can track and capture images of a target detector after controlled separation. Background Technology

[0002] Imaging camera systems, as key equipment for acquiring visual information in space exploration, are often fixedly installed at predetermined positions on the probe to image within a predetermined field of view; or they are moved to the corresponding field of view via adjustment mechanisms or "selfie sticks." The imaging process requires coordinated attitude adjustments from the probe or motion mechanisms, resulting in a limited field of view and preventing active imaging monitoring from a third-person perspective. Furthermore, mechanisms like "selfie sticks" consume significant resources and pose potential safety hazards. In microgravity or zero-gravity space exploration environments, the demand for more reliable and cost-effective separable imaging monitoring in the space exploration field is increasing. Examples include Japan's Hayabusa-2 probe using a spin-stabilized separable camera for third-person perspective imaging during its exploration process; and China's Tianwen-1 probe using a separate measurement sensor for self-portrait imaging.

[0003] The patent document "Separable Wireless Networked Imaging System and Method for Extraterrestrial Object Exploration" (Document No.: CN114143444B) proposes a separable wireless imaging system that can perform third-view imaging of the target after separation. However, after separation, the system needs to land on the surface of the celestial body with the help of gravity, lacks attitude adjustment capability, and is not suitable for zero-gravity or microgravity environments in space.

[0004] The controllable detachable autonomous attitude control camera differs from traditional fixed monitoring cameras and selfie stick cameras. During the main probe's orbital flight, the camera can be released and separated at opportune times. After separation, the camera flies independently, relying on its own power supply system, Wi-Fi wireless transmission, and autonomous attitude control system to track and photograph the main probe from a third-person perspective and transmit the data back to the main probe. With the continuous development of deep space exploration, the targets are gradually expanding from the Moon to more distant deep-space celestial bodies such as Mars, Jupiter, and asteroids. The demand for lightweight, detachable payloads is also increasing. Traditional imaging systems mainly face the following problems: First, traditional imaging systems have a fixed field of view, making it impossible to achieve active observation from a third-person perspective.

[0005] Second, traditional imaging systems do not have the ability to actively adjust their attitude, cannot achieve continuous imaging of target tracking, have low imaging frame rates, and have limited observation effects. Summary of the Invention

[0006] The technical problem solved by this invention is to overcome the shortcomings of the prior art. This invention provides a controllable separation autonomous attitude control imaging system for space applications, which can realize reliable and controlled separation of the camera under microgravity or zero gravity conditions, settable initial separation direction, real-time measurement and adjustment of attitude after separation, automatic identification and tracking of imaging targets for imaging, etc. It has low resource requirements, good deployability, and is easy to use.

[0007] The technical solution of this invention is: A controllable, separable, autonomous attitude control imaging system for space applications includes: an imaging recognition component, a wireless communication component, an attitude adjustment component, and a separation unlocking mechanism; wherein, the imaging recognition component, the wireless communication component, and the attitude adjustment component are defined as separable payloads; The separation unlocking mechanism is used to achieve locking and directional controllable separation between the separation payload and the main detector; The imaging recognition component, as a remote sensor payload on the separate payload, performs real-time image target recognition, obtains and outputs the acquired image data to the attitude adjustment component, and transmits it back to the main detector through the wireless communication component. The attitude adjustment component receives image data output by the imaging recognition component and measures the real-time attitude of the separated load. Based on the image data and the real-time attitude of the separated load, it adjusts the real-time attitude of the separated load. The wireless communication component is used for image data transmission between the imaging recognition component and the main detector.

[0008] Preferably, the separation unlocking mechanism includes: a bracket, a split electrically controlled nut, and an adapter assembly; The bracket is fixedly installed on the main detector; The split-section electrically controlled nut is fixedly installed on the bracket; the split-section electrically controlled nut has a split structure, which is controlled by an electrical signal and can lock and release the adapter assembly; The adapter assembly is fixedly installed on the separate load; Before the main detector and the separation payload are separated and unlocked, the split electronic control nut is used to lock the adapter assembly; When the main detector and the separation payload are separated and unlocked, the bracket, together with the adapter assembly, guides the unlocking and ejection movement of the separation payload.

[0009] Preferably, the support includes: a guide cylinder and a support cylinder; The guide cylinder and support cylinder are fixedly connected to the load-bearing structure of the main detector; The support cylinder is used to fix and install the split electric control nut, and the guide cylinder is used to guide the unlocking and popping movement of the adapter assembly.

[0010] Preferably, the adapter assembly includes: an adapter plate, a spring cylinder, and a T-screw; The T-screw is fixedly connected to the load-separating device via an adapter plate; The spring sleeve is fixedly installed on the adapter plate, and the spring sleeve is fitted between the T-screw and the guide sleeve; Before the main detector and the separation payload are separated and unlocked, the T-screw and the split electronic control nut are fixedly connected by a threaded pair; When the main detector and the separation payload are separated and unlocked, the segmented structure of the segmented electronically controlled nut is controlled by an electrical signal to unlock and release the T-screw; the spring cylinder is used to provide the elastic force for the T-screw to move away from the support.

[0011] Preferably, the controllable detachable autonomous attitude control imaging system further includes: a power supply component; Before the main detector and the separation payload are separated and unlocked, the power supply component performs calibration and self-test tests on the separation payload using external power supply. After the main detector and the isolated payload are separated and unlocked, the power supply component supplies power to the isolated payload.

[0012] Preferably, the separation unlocking mechanism further includes: a separation circuit; the separation circuit includes: a contact circuit board and a fixed circuit board; The fixed circuit board is electrically connected to the main detector. The fixed circuit board is electrically connected to the discrete load. Before the main detector and the separation payload are separated and unlocked, the contact circuit board and the fixed circuit board are electrically connected. After the main detector and the separation load are separated and unlocked, the T-shaped screw separates from the split electronic control nut, and the corresponding contacts of the contact circuit board and the fixed circuit board are disconnected from the electrical connection.

[0013] Preferably, the fixed circuit board has a ring structure, is fitted on the outside of the guide cylinder, and is fixedly connected to the support cylinder.

[0014] Preferably, the contact circuit board is circular, and it is fitted onto the outside of the spring cylinder and fixedly connected to the adapter plate.

[0015] The advantages of this invention compared to the prior art are: 1) This invention can solve the problems of separate third-view observation, active attitude adjustment and automatic tracking imaging in microgravity or zero gravity environments. It adopts wireless communication and self-powered system to ensure data transmission and energy stability after separation.

[0016] 2) This invention employs a segmented, electrically controlled nut locking and controlled directional separation method, ensuring high reliability and stable initial separation attitude. Combined with active attitude measurement, target recognition, and active attitude adjustment after separation, the attitude control stability is high, guaranteeing effective tracking and imaging of the target object. This effectively avoids problems such as inability to align with the imaging target after separation, attitude control deviations caused by prolonged zero bias accumulation of the attitude measurement sensor, and blurry or trailing images.

[0017] 3) This invention has low requirements for main detector resources, good deployability, and is easy to use. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the imaging system provided by the present invention; Figure 2 A flowchart of the imaging system provided by the present invention; Figure 3 This is a schematic diagram of the initial locking state of an embodiment of the imaging system provided by the present invention; Figure 4 This is a schematic diagram of the separated state of an embodiment of the imaging system provided by the present invention; Figure 5 The initial attitude curve of the separation in a microgravity drop tower test is provided as an embodiment of the imaging system of the present invention; Figure 6 The simulation result curve of the attitude control accuracy after separation in the imaging system embodiment provided by the present invention; Figure 7 This is a schematic diagram of the target adjustment region division for image recognition in the imaging system provided by the present invention; Figure 8 This is a schematic diagram of the locking state of the imaging system separation and unlocking mechanism provided by the present invention; Figure 9 This is a schematic diagram of the unlocking / separation state of the imaging system separation / unlocking mechanism provided by the present invention. Detailed Implementation

[0019] To better describe the present invention, the present invention will be described in detail below with reference to schematic diagrams and examples.

[0020] like Figure 1 As shown, a controllable detachable autonomous attitude control imaging system for space applications includes: an imaging recognition component, a wireless communication component, a power supply component, an attitude adjustment component, and a detachment unlocking mechanism. The imaging recognition component, wireless communication component, power supply component, and attitude adjustment component are defined as detachable payloads. The detachable payloads achieve locking and directional controllable separation through the detachment unlocking mechanism.

[0021] (a) The imaging and recognition component consists of an optical lens, an image sensor drive and control circuit, an image processing and recognition circuit, and an interface circuit. The image processing and recognition circuit controls the image sensor to acquire image data, performs real-time image target recognition, and sends the recognition results to the central computer of the attitude control component for attitude control of the separation load; simultaneously, it compresses the image data and outputs it to the wireless control circuit of the wireless communication component, transmitting it back to the main detector via a wireless channel. The specific process is as follows: After power-on, the imaging recognition component monitors the contact status of the separation surface in real time. When it detects that the contacts of the separation circuit in the separation unlocking mechanism have disengaged, it automatically enters the imaging and target recognition working mode. The target recognition algorithm identifies the pixel position coordinates (x, y) of the main detector in the image in real time and outputs the pixel position coordinates to the central computer of the attitude control component at a frequency of 5Hz through a serial communication interface (RS422 interface) to control the imaging direction of the separation payload. In the initial separation stage, the separation payload is close to the main detector, and only a local area of ​​the main detector enters the imaging field of view, limiting the image recognition accuracy. To avoid the risk of collision to the main detector due to interference from image recognition anomalies in attitude direction adjustment, the imaging recognition component does not output the recognition result for 5 seconds after separation (before the main detector fully enters the imaging field of view) and before the main detector is fully recognized.

[0022] In addition, the camera images are compressed and encoded in real time and transmitted back to the main detector via a wireless channel (WIFI), from which the main detector then transmits the images to the ground system.

[0023] (b) Wireless communication component, consisting of wireless control circuit and antenna. The wireless control circuit interacts with the image processing and recognition circuit, receives image data and telemetry status data sent by the image processing and recognition circuit, and sends them to the main detector via the antenna wireless channel. The wireless control circuit receives control commands sent by the main detector via the antenna wireless channel and forwards them to the image processing and recognition circuit of the imaging recognition component for imaging status and attitude control.

[0024] (c) Power supply component, consisting of battery component and power control circuit. The power control circuit realizes the switching control between external power supply and battery component power supply. Before the separation payload is separated from the main detector, calibration test and self-test can be performed through external power supply. Before the separation task is executed, the power supply is switched to battery component power supply to ensure energy supply after the separation payload is separated.

[0025] (d) The attitude adjustment component, consisting of an X-axis flywheel, a Y-axis flywheel, a Z-axis flywheel, an attitude measurement sensor, and a central computer, enables real-time measurement of the three-axis rotational attitude of the separated load. Based on the attitude measurement results and image target recognition results, the X-axis flywheel, Y-axis flywheel, and Z-axis flywheel are used to adjust the orientation of the lens imaging optical axis within the separated load. The specific process is as follows: The central computer receives the target recognition pixel position coordinates (x, y) from the image processing and recognition circuit via a serial communication interface (RS422 interface). Simultaneously, it acquires the current attitude quaternion and X / Y / Z-axis angular velocities from the attitude measurement sensor (IMU) at a 4Hz cycle. An initial target attitude quaternion is preset before separation. During the initial separation phase, the separation payload is close to the main detector, and the image processing and recognition circuit does not effectively recognize and output the main detector coordinates. During this phase, attitude pointing control is performed according to the preset target attitude. After the image processing and recognition circuit outputs valid recognition coordinates, the target attitude quaternion is updated in real time based on the target recognition coordinates. The camera pointing attitude adjustment control of the separation payload is achieved by adjusting the target rotation speed of the X / Y / Z-axis flywheels through an attitude control algorithm.

[0026] In particular, the image target recognition coordinate and pose adjustment strategy is shown in the following example. Figure 7 The complete image region 1 captured by the imaging system is divided into an adjustment region 2 and an imaging target region 3. When the target recognition coordinates fall into this region, the corresponding target pose quaternion needs to be updated, and the imaging field of view direction needs to be adjusted to image the target onto the center of the field of view. Target region 3 is a circular region centered on the image center pixel, with a diameter of 1 / 4 of the total number of pixels in a row. When the target recognition coordinates fall into this region, it is not necessary to adjust the imaging field of view direction; it is only necessary to stabilize the camera rotation attitude, even if the rotation angles of the X-axis, Y-axis, and Z-axis all approach 0. In this example scheme, the control target is that each axis is <0.5° / s.

[0027] (e) The separation unlocking mechanism includes: a bracket 100, a split electrically controlled nut 200, an adapter assembly 300, and a separation circuit, such as Figure 8 As shown, it is used to achieve load locking and directional controllable separation.

[0028] The bracket 100 includes: a guide cylinder 101 and a support cylinder 102; The guide cylinder 101 and the support cylinder 102 are fixedly connected to the load-bearing structure of the main detector; The support cylinder 102 is used to fix and install the split electric control nut 200, and the guide cylinder 101 is used to guide the unlocking and popping movement of the T-screw 303.

[0029] The split-type electrically controlled nut 200 has a split structure, which is controlled by an electrical signal to lock and release the T-screw 303. When the split structure is locked and closed, a threaded hole 201 is formed in the center. When disengaging, the split-type electrically controlled nut 200 is energized to release the locking of the threaded hole 201 on the T-screw 303.

[0030] The adapter assembly 300 includes: an adapter plate 301, a spring cylinder 302, and a T-screw 303.

[0031] The separation load is fixedly connected to the T-screw 303 via the adapter plate 301.

[0032] Spring sleeve 302 is mounted on T-screw 303 to provide elastic force for T-screw 303 to move away from bracket 100.

[0033] The separation circuit includes: a contact circuit board 401 and a fixed circuit board 402.

[0034] The split-type electric control nut 200 is installed inside the support cylinder 102, with the threaded hole 201 facing the separation surface. The circular guide cylinder 101 is installed inside the support cylinder 102 on the upper side of the split-type electric control nut 200 and is coaxial with the locking threaded hole 201 of the split-type electric control nut 200.

[0035] The fixed circuit board 402 has a ring structure. The fixed circuit board 402 is fitted on the outside of the guide cylinder 101 and is fixedly connected to the support cylinder 102. The fixed circuit board 402 is connected to the main detector for electrical signals.

[0036] The guide cylinder 101, support cylinder 102, fixed circuit board 402 and split electronic control nut 200 are fixedly connected to the load-bearing structure of the main detector to form the on-board fixed assembly.

[0037] The T-shaped screw 303 passes through the central hole of the circular adapter plate 301 and is fixed on the adapter plate 301. The cylindrical spring cylinder 302 is fixed on the lower side of the adapter plate 301, and its axis coincides with the axis of the central hole of the adapter plate 301.

[0038] The contact circuit board 401 is circular and is fitted on the outside of the spring cylinder 302 and fixedly connected to the adapter plate 301. Before the load is separated and unlocked, the contact circuit board 401 and the fixed circuit board 402 are electrically connected.

[0039] The adapter plate 301, spring cylinder 302, T-screw 303 and contact circuit board 401 are fixedly installed on the separation load side to form a separation assembly.

[0040] The onboard fixed assembly and the separation assembly are locked together by a T-screw 303 and a split-type electrically controlled nut 200. In the locked state, the spring cylinder 302 and the guide cylinder 101 are coaxially nested together. The corresponding contacts of the contact circuit board 401 and the fixed circuit board 402 are in contact, realizing the electrical signal conduction connection. Figure 8As shown. After the split-segment electrically controlled nut 200 is unlocked, the T-screw 303 separates from the split-segment electrically controlled nut 200, and the spring cylinder 302 pushes the separation assembly to separate from the on-board fixed assembly. During the separation process, the guide cylinder 101 controls the separation direction, so that the separation load is separated in a controlled manner along the axis of the guide cylinder. The contact circuit board 401 and the fixed circuit board 402 achieve automatic electrical connection and disconnection. After the pushing action of the spring cylinder 302 ends, the separation assembly continues to move along the initial motion direction according to inertia, achieving complete separation from the main detector, as shown. Figure 9 As shown.

[0041] (f) The specific on-orbit workflow is as follows: The separated payload undergoes a power-on self-test and automatically establishes a wireless connection with the main detector. After the wireless connection is established, the attitude measurement sensor is zero-calibrated via ground control. After calibration, the initial target attitude quaternion is set for the separated payload. Following initial calibration and setting, the separation unlocking mechanism is activated to release the payload. Once the separation circuit contacts are detected as disengaged, the separated payload automatically enters the imaging, image target recognition, and active attitude control modes. During the initial separation phase, the separated payload is close to the main detector, and only a localized area of ​​the main detector enters the imaging field of view, limiting image recognition accuracy. To avoid image recognition anomalies interfering with attitude pointing adjustment and posing a collision risk to the main detector, the imaging recognition component does not output recognition results for 5 seconds after separation (before the main detector fully enters the imaging field of view) and before fully recognizing the main detector. During this phase, attitude pointing control is performed according to the preset target attitude. After the image processing and recognition circuit outputs valid recognition coordinate information, the central computer of the attitude adjustment component updates the target attitude quaternion in real time based on the target recognition coordinate information and adjusts the target rotation speed of the X-axis / Y-axis / Z-axis flywheels through the attitude control algorithm to achieve camera pointing attitude adjustment control.

[0042] like Figure 2 The specific process is explained as follows: a) The main detector controls the separation payload to switch to the internal battery pack for power supply; b) After the separated load is powered on, it autonomously completes program configuration and initialization self-test, and establishes a wireless channel connection with the main detector; c) The main detector controls the separation load attitude measurement sensor to perform zero-position calibration and uploads the zero-position calibration result to the separation load attitude measurement sensor; d) Set the initial target attitude quaternion to the central computer of the attitude adjustment component according to the task requirements; e) The main detector sends a command to the separation unlocking mechanism to unlock the locking nut, thereby unlocking the separation imaging component; f) The separation load moves along the spring cylinder guide direction under the action of the separation unlocking mechanism, realizing high-precision directional controlled separation of the separation load separation body. At the same time, the circuit boards on both sides of the separation circuit automatically disconnect the electrical signal along with the movement of the separation load.

[0043] g) Upon detecting the disconnection of the separation circuit contacts, the separation payload automatically enters the imaging and image recognition state. Simultaneously, the attitude control component enters the attitude control mode based on the separation circuit separation signal. The separation imaging component transmits image data and operational status telemetry data to the main detector via a wireless channel. The main detector stores the separation payload's imaging data and transmits it to the ground. The separation payload maintains target recognition imaging and attitude control states and receives imaging control commands from the main detector to switch the corresponding imaging mode until the mission ends.

[0044] Specifically: After power-on, the imaging recognition component monitors the contact status of the separation surface in real time. When it detects that the contacts on the separation circuit board have disengaged, it automatically enters the imaging and target recognition working mode. The target recognition algorithm identifies the pixel position coordinates (x, y) of the main detector in the image in real time and outputs the pixel position coordinates to the attitude control component's "central computer" at a frequency of 5Hz via a serial communication interface (RS422 interface) to control the camera's imaging pointing. During the initial separation phase, the separation payload is close to the main detector, and only a local area of ​​the main detector enters the imaging field of view, limiting image recognition accuracy. To avoid the risk of collision with the main detector due to interference from image recognition anomalies in attitude pointing adjustment, the imaging recognition component does not output the recognition result for 5 seconds after separation (before the main detector fully enters the imaging field of view) and before fully recognizing the main detector.

[0045] During this stage, the attitude control components perform attitude pointing control according to the preset initial target attitude. After the image processing and recognition circuit outputs valid recognition coordinate information, the central computer of the attitude adjustment component updates the target attitude quaternion in real time based on the target recognition coordinate information, and adjusts the target rotation speed of the X-axis / Y-axis / Z-axis flywheels through the attitude control algorithm to achieve camera pointing attitude adjustment control.

[0046] In particular, the image target recognition coordinate and pose adjustment strategy is shown in the following example. Figure 7 Image 1 shows an image captured by the imaging system; image 2 shows the adjustment area. When the target's coordinates fall into this area, the corresponding target pose quaternion needs to be updated, and the imaging field of view direction adjusted to image the target onto the center of the field of view; image 3 shows the imaging target area, a circular area centered on the image's center pixel, with a diameter of 1 / 4 of the total number of pixels in a row. When the target's coordinates fall into this area, it is not necessary to adjust the imaging field of view direction; only the camera's rotation attitude needs to be stabilized, even if the rotation angles of the X / Y / Z axes are close to 0. In this example, the control target is that each axis is <0.5° / s.

[0047] This invention employs an attitude measurement sensor and a deep learning-based visual image target recognition superposition method to ensure the correctness and stability of camera attitude adjustment, avoiding attitude pointing deviation caused by the accumulation of zero bias due to long-term operation of the attitude measurement sensor. It utilizes a space-grade lithium battery and power supply protection circuitry to ensure stable energy after separation; a high-precision attitude measurement sensor (IMU) and X / Y / Z-axis reaction flywheels are used for precise control of single-axis attitude, ensuring the accuracy of camera attitude adjustment; and an optimized separation unlocking mechanism is employed, offering good adaptability to the space environment and ensuring reliable locking of the separation load and controlled directional separation.

[0048] Example In the current embodiment, the controllable detachable autonomous attitude control imaging system mainly includes an imaging recognition component, a wireless communication component, a battery power supply component, an attitude adjustment component, and a detachment unlocking mechanism, such as... Figure 3 .

[0049] 1) The imaging recognition component consists of an optical lens, an image sensor drive control circuit, an image processing and recognition circuit, and an interface circuit. The image processing and recognition circuit, as the core circuit for camera control, controls the image sensor drive control circuit to acquire image data. After compression encoding (H.264 compression, JPEG compression, etc.), the image data is transmitted to the main detector in real time via a wireless channel. Simultaneously, it performs real-time target recognition on the image data (based on a neural network (YOLOv5 model) deep learning method) and outputs the recognition results to the central computer of the attitude adjustment component for camera imaging pointing attitude adjustment.

[0050] 2) The wireless communication component consists of a wireless control circuit and an antenna. This embodiment uses adaptive disconnection and reconnection WIFI wireless communication (not limited to WIFI communication) to realize wireless data transmission between the separated camera and the main detector. The effective communication distance is greater than 200m, and the communication rate is greater than 2Mbps@200m, ensuring the reliability of the data transmission link before and after camera separation.

[0051] 3) Power supply components, consisting of battery modules and a power control circuit. The power control circuit controls the switching between external power supply and battery module power supply. In this embodiment, a space-grade electromagnetic relay is used to control the external power supply and internal battery power supply. By default, the relay is in external power supply mode, and the main detector controls the on / off state of the camera's external power supply. Before the camera separation mission, it switches to battery power supply. The battery module uses aerospace-grade high-reliability 18650 series battery pack, which can support the camera's continuous operation for more than 2 hours, ensuring a stable power supply after camera separation.

[0052] 4) The attitude adjustment component consists of X / Y / Z-axis flywheels, an attitude measurement sensor (IMU), and a central computer. The central computer interacts with the image processing and recognition circuit, receiving image recognition coordinate information for camera imaging pointing attitude adjustment control. Simultaneously, the central computer sends telemetry information of the operating status to the image processing and recognition circuit, which then packages and sends it to the main detector. The attitude measurement sensor (IMU) uses an internal measurement sampling frequency of 1000Hz to monitor the camera's motion attitude after separation and transmits the sampling results, smoothed at 4Hz, to the central computer. The central computer combines the image recognition coordinates with the attitude measurement results from the attitude measurement sensor (IMU), and the attitude control algorithm adjusts the camera's pointing by controlling the target speed of the X / Y / Z-axis reaction flywheels, while simultaneously controlling the camera's pointing attitude stability to be less than 0.5° / s. Figure 6 .

[0053] 5) The separation and unlocking mechanism consists of a structural support, a segmented electrically controlled nut 200, a spring cylinder, and a separation circuit. The separation and unlocking mechanism enables the locking and controllable separation of the camera imaging separation assembly. In this embodiment, a pyrotechnic separation nut is used to lock and separate the separation load assembly. After the separation nut is ignited and detonated, the separation load moves along the spring guide cylinder under the push of the spring cylinder, achieving high-precision directional separation of the camera imaging separation assembly. Simultaneously, the circuit boards on both sides of the separation circuit automatically disconnect along with the movement of the separation load, thus automatically achieving electrical signal disconnection. Figure 4 The separation and unlocking system was tested and verified using a microgravity drop tower from the Chinese Academy of Sciences to determine the initial separation attitude. After separation along the X / Y / Z axes, the initial angular velocity was less than 8° / s. The measured initial angular velocity is shown in [reference needed]. Figure 5 The initial pointing deviation during separation is less than 0.5°.

[0054] 6) The specific on-orbit workflow of the machine is as follows: The separated payload undergoes a power-on self-test and automatically establishes a wireless connection with the main detector. After the wireless connection is established, the attitude measurement sensor (IMU) is zero-calibrated via ground control. Once calibration is complete, the target attitude quaternion is preset for the separated payload. After initial calibration and settings, the separation unlocking mechanism is activated to unlock and release the payload. When the separated payload detects the contact point on the separation circuit board disengagement, it automatically enters the imaging, image target recognition, and active attitude control modes. Before a target is detected, the payload is controlled according to the preset attitude. After a target is detected, the camera attitude is adjusted in real time based on the image recognition results and the attitude measurement sensor's measurement results, keeping the center area of ​​the field of view aligned with the imaging target until the imaging task is completed. Figure 2 The specific process is explained as follows: a) The main detector controls the separation payload to switch to the internal battery pack for power supply; b) After the separated load is powered on, it autonomously completes program configuration and initialization self-test, and establishes a wireless WIFI channel connection with the main detector; c) The main detector controls the camera attitude measurement sensor IMU to perform zero-point calibration and uploads the zero-point calibration result to the camera attitude measurement sensor IMU; d) Set the initial target attitude quaternion to the central computer of the attitude adjustment component according to the task requirements; e) The main detector sends an ignition command to the pyrotechnic separation nut of the separation unlocking mechanism, controlling the pyrotechnic separation nut to ignite and detonate, thereby unlocking the separation load; f) The separation load moves along the spring cylinder guide direction under the action of the main push spring of the separation unlocking mechanism, realizing high-precision directional separation of the camera separation body. At the same time, the circuit boards on both sides of the separation circuit are separated along with the movement of the separation body load, and the electrical signal is automatically disconnected.

[0055] g) After the separation imaging component detects the disconnection of the separation circuit contacts, it automatically enters the imaging and image recognition state. Simultaneously, the attitude control component enters the attitude control mode based on the disconnection signal. The separation imaging component transmits image data and operational status telemetry data to the main detector via a wireless WIFI channel. The main detector stores the camera data and downloads it to the ground. The separation payload maintains the target recognition imaging and attitude control state and receives imaging control commands from the main detector to switch the corresponding imaging mode until the mission ends.

[0056] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make possible variations and modifications to the technical solutions of the present invention using the disclosed methods and techniques without departing from the spirit and scope of the invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the content of the technical solutions of the present invention, shall fall within the protection scope of the present invention. Where there is no conflict, the embodiments of this application and the technical features thereof can be combined with each other.

[0057] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A controllable, separable, autonomous attitude control imaging system for space applications, characterized in that, include: The components include an imaging recognition component, a wireless communication component, an attitude adjustment component, and a separation unlocking mechanism; wherein, the imaging recognition component, the wireless communication component, and the attitude adjustment component are defined as separate payloads. The separation unlocking mechanism is used to achieve locking and directional controllable separation between the separation payload and the main detector; The imaging recognition component, as a remote sensor payload on the separate payload, performs real-time image target recognition, obtains and outputs the acquired image data to the attitude adjustment component, and transmits it back to the main detector through the wireless communication component. The attitude adjustment component receives image data output by the imaging recognition component and measures the real-time attitude of the separated load. Based on the image data and the real-time attitude of the separated load, it adjusts the real-time attitude of the separated load. The wireless communication component is used for image data transmission between the imaging recognition component and the main detector.

2. The controllable, separable, autonomous attitude control imaging system for space applications according to claim 1, characterized in that, The separation unlocking mechanism includes: a bracket (100), a split electrically controlled nut (200), and an adapter assembly (300). The bracket (100) is fixedly installed on the main detector; The split-type electrically controlled nut (200) is fixedly installed on the bracket (100); the split-type electrically controlled nut (200) has a split structure, which is controlled by an electrical signal and can lock and release the adapter assembly (300). The adapter assembly (300) is fixedly mounted on the separate load; Before the main detector and the separation payload are separated and unlocked, the split electronic control nut (200) locks the adapter assembly (300). When the main detector and the separation payload are separated and unlocked, the bracket (100) and the adapter assembly (300) guide the unlocking and ejection movement of the separation payload.

3. The controllable, separable, autonomous attitude control imaging system for space applications according to claim 2, characterized in that, The bracket (100) includes: a guide tube (101) and a support tube (102); The guide tube (101) and the support tube (102) are fixedly connected to the load-bearing structure of the main detector; The support cylinder (102) is used to fix the split electric control nut (200), and the guide cylinder (101) is used to guide the unlocking and popping movement of the adapter assembly (300).

4. The controllable detachable autonomous attitude control imaging system for space applications according to claim 3, characterized in that, The adapter assembly (300) includes: an adapter plate (301), a spring cylinder (302), and a T-screw (303); The T-screw (303) is fixedly connected to the load shearing via the adapter plate (301); The spring sleeve (302) is fixedly installed on the adapter plate (301), and the spring sleeve (302) is fitted between the T-screw (303) and the guide tube (101); Before the main detector and the separation payload are separated and unlocked, the T-screw (303) and the split electronic control nut (200) are fixedly connected by a threaded pair; When the main detector and the separation load are separated and unlocked, the split structure of the split electronic control nut (200) is controlled by an electrical signal to unlock and release the T-screw (303); the spring cylinder (302) is used to provide the elastic force for the T-screw (303) to move away from the bracket (100).

5. A controllable, separable, autonomous attitude control imaging system for space applications according to claim 4, characterized in that, The controllable, detachable, autonomous attitude control imaging system also includes: a power supply component; Before the main detector and the separation payload are separated and unlocked, the power supply component performs calibration and self-test tests on the separation payload using external power supply. After the main detector and the isolated payload are separated and unlocked, the power supply component supplies power to the isolated payload.

6. A controllable, separable, autonomous attitude control imaging system for space applications according to claim 4 or 5, characterized in that, The separation unlocking mechanism also includes: a separation circuit; the separation circuit includes: a contact circuit board (401) and a fixed circuit board (402); The fixed circuit board (402) is electrically connected to the main detector; The fixed circuit board (402) is electrically connected to the discrete load; Before the main detector and the separation load are separated and unlocked, the contact circuit board (401) and the fixed circuit board (402) are electrically connected; After the main detector and the separation load are separated and unlocked, the T-screw (303) separates from the split electric control nut (200), and the corresponding contacts of the contact circuit board (401) and the fixed circuit board (402) disconnect the electrical connection.

7. A controllable, separable, autonomous attitude control imaging system for space applications according to claim 6, characterized in that, The fixed circuit board (402) has a ring structure. The fixed circuit board (402) is fitted on the outside of the guide cylinder (101) and is fixedly connected to the support cylinder (102).

8. A controllable, separable, autonomous attitude control imaging system for space applications according to claim 7, characterized in that, The contact circuit board (401) is circular and is fitted on the outside of the spring cylinder (302) and fixedly connected to the adapter plate (301).

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