30 results about "Mars rover" patented technology

The invention relates to a method for verifying a Mars sky radiance simulation result based on a Mars real-shot photo, and belongs to the technical field of Mars sky background radiance. Comprises: image acquisition; performing radiation calibration; correcting dark current; performing flat field correction; converting a radiation value; and geometric correction. The Mars sky radiance simulation method breaks through the dependence of an existing model on idealized hypothesis, performs dynamic verification by using actual shot image data, remarkably improves the authenticity and reliability of a Mars sky radiance simulation result, and effectively solves the problem of systematic deviation under a specific wave band; by constructing a complete process from image acquisition, radiation calibration, geometric modeling to brightness inversion and comparison verification, dynamic feedback and closed-loop correction of a theoretical radiation model are realized, model adaptability is improved, and fine modeling under multi-temporal and multi-meteorological conditions is supported; the method can be applied to an existing Mars rover navigation camera and an image processing link of the Mars rover navigation camera, does not need additional modification, has good engineering practicability and task compatibility, and is convenient to popularize and apply.

The invention belongs to the technical field of data processing, and discloses a Mars rover non-contact trafficability estimation method and system based on thermal inertia, and the method comprises the steps: obtaining a ground surface temperature time sequence and environment parameters of a target region; constructing a thermal inertia estimation model, and inputting the earth surface temperature time sequence and the environmental parameters into the thermal inertia estimation model to obtain a thermal inertia estimation value of the fire soil; constructing a thermal inertia and trafficability index relation model, inputting the thermal inertia estimation value of the fire soil into the thermal inertia and trafficability index relation model, and outputting a predicted trafficability index; and determining a trafficability state grade according to the predicted trafficability index, and generating a navigation control suggestion, so that the Mars rover passes through the target area according to the Mars rover navigation control suggestion. According to the method, the trafficability index of the Mars rover is predicted by extracting the thermal inertia estimation value of the fire soil in the target area, the evaluation precision of the Mars rover passing through the target area can be effectively improved, and the driving safety of the Mars rover is ensured.

The embodiment of the invention discloses an automatic rock extraction method and system based on deep learning and Mars rover camera images, and aims to solve the problems that an existing Mars rock segmentation algorithm is insufficient in generalization ability under a complex earth surface background, high in model calculation load and difficult to deploy on satellite-borne edge equipment. The core of the method is that a lightweight encoder-decoder network is constructed, and the network integrates three key modules: a frequency-assisted enhancement Mama module, which accurately captures rock texture and contour by fusing the global sequence modeling capability of Mama and the frequency domain enhancement of wavelet transform; the multi-scale feature intensifier is used for adaptively fusing multi-level features by using a parallel double attention mechanism; and the boundary perception auxiliary branch improves the integrity of the segmented contour through an explicit edge supervision and feature decoupling mechanism. According to the method, the rock extraction precision is remarkably improved, meanwhile, the model complexity and the calculation overhead are greatly reduced, the method is suitable for outer space exploration scenes with limited communication bandwidth and calculation resources such as Mars rovers, and effective balance of high precision and light weight is achieved.

The invention belongs to the technical field of data processing, and discloses a Mars probe temperature monitoring method and system based on time control factor optimization, and the method comprises the steps: obtaining simulated fire soil, and carrying out the screening processing and dense state preparation processing, and obtaining a plurality of relatively dense state samples; performing simulated temperature monitoring on the plurality of samples in the relatively dense state to obtain a plurality of temperature-time curves, and performing piecewise linear fitting to obtain thermal response characteristics of the simulated fire soil; performing optimal monitoring time period analysis and optimal monitoring duration analysis according to the thermal response characteristics to obtain an optimal passive monitoring time window and duration strategy; and determining target to-be-monitored fire soil, and performing real temperature monitoring on the target to-be-monitored fire soil according to the optimal passive monitoring time window and the duration strategy to obtain an optimal temperature monitoring result. According to the invention, the temperature of the fire soil to be measured can be accurately monitored, so that the assessment precision of the passing ability of the Mars rover is effectively improved, and the driving safety of the Mars rover is ensured.

The invention relates to a high-speed unmanned Mars rover capable of actively switching suspension modes, and belongs to the technical field of deep space exploration, the high-speed unmanned Mars rover comprises a walking frame, a suspension and a switching mechanism, the walking frame comprises a rover frame, a connecting beam, two swing arms and two connecting rods, the suspension comprises an outer fixing plate and a lower shock absorber, and the switching mechanism comprises a rotating shaft, an outer moving plate and an actuator. The two ends of the lower shock absorber are connected to the lower frame and the outer fixing plate correspondingly firstly, then the rotating shaft fixed to the upper frame slides in the curve hole, the linear hole and the expanding hole in a switching mode, when the unmanned Mars rover is parked, the rotating shaft slides in the curve hole to level the rover frame, and when the unmanned Mars rover runs at a low speed, the rotating shaft slides in the curve hole to level the rover frame. The rotating shaft slides in the linear hole, so that the frame swings along with the two swing arms, when the unmanned Mars rover runs at a high speed, the rotating shaft slides in the diameter expanding hole, vibration and shock absorption on the two swing arms are transmitted to the frame, and switching of the suspension among a flexible suspension, a passive suspension and a rigid suspension is achieved.

The application belongs to the technical field of data processing, and discloses a Mars rover non-contact passability prediction method and system based on thermal inertia, which comprises the following steps: obtaining the ground temperature time sequence and environmental parameters of a target area; constructing a thermal inertia estimation model, inputting the ground temperature time sequence and environmental parameters into the thermal inertia estimation model, and obtaining the thermal inertia estimation value of the soil; constructing a thermal inertia and passability index relationship model, inputting the thermal inertia estimation value of the soil into the thermal inertia and passability index relationship model, and outputting a predicted passability index; determining the passability state level according to the predicted passability index, and generating a navigation control suggestion, so that the Mars rover passes the target area according to the navigation control suggestion of the Mars rover. The application can effectively improve the evaluation accuracy of the Mars rover passing the target area by extracting the thermal inertia estimation value of the soil of the target area to predict the passability index of the Mars rover, and ensures the driving safety of the Mars rover.

The application belongs to the technical field of data processing, and discloses a Mars probe temperature monitoring method and system based on time control factor optimization, which comprises the following steps: obtaining simulated soil, and performing screening treatment and dense state preparation treatment to obtain a plurality of relatively dense state samples; performing simulated temperature monitoring on the plurality of relatively dense state samples to obtain a plurality of temperature-time curves, and performing piecewise linear fitting to obtain the thermal response characteristics of the simulated soil; performing optimal monitoring time period analysis and optimal monitoring time length analysis according to the thermal response characteristics to obtain an optimal passive monitoring time window and time length strategy; determining a target to-be-measured soil, and performing real temperature monitoring on the target to-be-measured soil according to the optimal passive monitoring time window and time length strategy to obtain the best temperature monitoring result. The application can realize accurate monitoring of the temperature of the to-be-measured soil, thereby effectively improving the evaluation accuracy of the passability of the Mars rover and ensuring the driving safety of the Mars rover.

The present disclosure provides a method, apparatus, and device medium for correcting a Mars rover radar signal. The method comprises: interpolating each channel of raw radar data in the time domain and taking the absolute value of the interpolated signal to obtain multiple channels of high-time-resolution radar data; arbitrarily determining a channel of high-time-resolution radar data from the multiple channels of high-time-resolution radar data as first reference data; performing time-domain cross-correlation analysis on the other channels of high-time-resolution radar data and the first reference data to obtain a time-domain correlation curve corresponding to each channel of high-time-resolution radar data; correcting the time of each channel of high-time-resolution radar data using the time offset corresponding to the peak of the time-domain correlation curve of each channel of high-time-resolution radar data, and performing phase-domain analysis on the time-corrected signal to achieve phase correction. This method solves the problem of discontinuities such as jumps and faults in the downlink radar signal from the Mars rover.

The invention discloses a Mars rover multi-sensor joint calibration system and an optimization method thereof, and belongs to the technical field of Mars detection. Comprising an image and depth data acquisition unit, an environment point cloud acquisition unit, an attitude measurement unit, a data acquisition and synchronization module, a data fusion processing unit and a calibration auxiliary target. The method comprises the following steps: calibrating internal parameters; calibrating external parameters; data acquisition and time sequence correction; and carrying out data fusion and online self-correction. According to the invention, the time dimension alignment error is reduced, the manufacturing cost is reduced, the method is suitable for extreme temperature, high radiation and low pressure environments of Mars, the problem of parameter attenuation caused by environmental factors such as low temperature and vibration of the Mars is effectively solved, manual intervention is reduced, and the calibration efficiency is improved. The method has long-term stable high-precision sensing capability in a Mars surface dynamic environment, and is suitable for task requirements of autonomous navigation, terrain reconstruction, obstacle detection and the like.

The embodiment of the invention provides a Mars rover state determination method and system under sparse low-quality observation and a storage medium, and the method comprises the steps: 1, building a factor graph model for a navigation system of a Mars rover, and enabling the navigation system to obtain the state of the Mars rover; 2, according to the sampling frequency and the observation physical quantity type of the sensor, representing an observation data set of same-type state parameters at the same time, and determining the characteristics of observation data; step 3, analyzing the solution performance of the navigation system factor graph model by combining the characteristics of observation data, and judging whether a unique effective optimal solution exists or not; and 4, classifying the sparse observation data sets to form different types of data sets in combination with the characteristics of the observation data, and solving the data sets of different types to obtain a high-precision state estimation result of the Mars rover.

The invention provides a surface topography segmentation method and system based on a double-trunk coding network model, and relates to the technical field of image processing algorithms, and the method comprises the steps: determining a training sample set according to a Mars surface image; a double-trunk coding network model is constructed, the double-trunk coding network model is composed of a convolutional neural network branch and a Swin Transform branch in parallel, the multiple image samples are input into the double-trunk coding network model, and a Mars terrain semantic segmentation prediction map corresponding to each image sample is obtained; and training the double-trunk coding network model, inputting a to-be-detected Mars surface image into the trained double-trunk coding network model, and outputting a pixel-level semantic tag of the to-be-detected Mars surface image. According to the method, the terrain recognition precision and the boundary definition can be remarkably improved, the geological consistency of the segmentation result is enhanced, and technical support is provided for reliable environment perception and safe path planning of the Mars patroller.

This disclosure provides a method for calibrating the amplitude of the high-frequency polarization channel of a Mars rover's subsurface exploration radar, comprising: obtaining the average signals of the HH channel and VV channel respectively through the reflected signals of a metal plate; extracting the effective reflected signals of the HH channel and VV channel respectively based on the average signals; calculating the sum of the amplitude moduli of the effective reflected signals of the HH channel and VV channel respectively; calculating the ratio of the sum of the amplitude moduli of the effective reflected signals of the HH channel to the sum of the amplitude moduli of the effective reflected signals of the VV channel to obtain a correction coefficient; and reading the measured data of the Mars rover radar polarization channel and multiplying the measured data of the HH channel or VV channel by the correction coefficient to complete the polarization channel amplitude calibration.

1. The name of the design product: Mars Rover pants. 2. The use of the design product: for wearing. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: front view. 5. The design product is a thin product, and the top view, bottom view, left view, right view, and perspective view are omitted.

This invention discloses a deformable, tumbleweed-inspired Mars exploration robot based on dielectric elastomers, belonging to the field of exoplanet exploration technology, and solving the problems of large size and heavy weight of tumbleweed robots. The invention includes a spherical frame, a flexible solar panel sail, several dielectric elastomer actuators, and a central spherical cabin. The flexible solar panel sail is disposed inside and connected to the spherical frame, with the central cabin located at its center. Several dielectric elastomer actuators are embedded inside the flexible solar panel sail; one end of each actuator is connected to the central cabin, and the other end is connected to the spherical frame. This invention achieves speed control by adjusting its windward area to regulate wind power utilization. Using dielectric elastomers as actuators, it achieves volume change while maintaining a lightweight and compact structure with enhanced terrain adaptability.

1. Name of the product in this design: Manned Mars Rover. 2. Purpose of this design: To carry various scientific instruments to move on the surface of Mars and complete Mars scientific exploration missions. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

1. Name of this design product: Amusement Ride (Mars Rover). 2. Purpose of this design product: for use as amusement equipment in amusement parks. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The invention belongs to the technical field of flight control of aircrafts, and discloses a flight management system and a flight control method for a terrestrial planet vertical take-off and landing aircraft, and the system comprises a navigation module which carries out the state measurement of the aircraft through employing an airborne IMU, and carries out the data fusion with a downward-looking navigation camera and radio ranging; the communication module is used for communicating with a Mars rover; the steering engine module is used for receiving the control signal and driving a rotor wing to work; and the flight control module is used for receiving the data of the navigation module, generating a control instruction according to the navigation data and the target trajectory and sending the control instruction to the steering engine module so as to realize flight control of the vertical take-off and landing aircraft. The problems of survival and control of the deep space exploration aircraft under extreme conditions are solved, and the reliability is effectively improved.

A two-layer counter-based autonomous communication control and fault handling method for Mars rover components uses two layers of counters to implement component communication control and fault handling. One layer of counters records the number of consecutive communication failure cycles. When this count reaches a set threshold, communication fault handling begins. Another layer of counters records the number of fault handling cycles and controls the sequential execution of various fault handling actions. This method decouples communication control and fault handling control functions, resulting in cohesive and clear control logic, making it well-suited to addressing changing requirements. Changing any functional requirement only requires modifying that function, without spreading the impact domain. This ensures the correctness, robustness, and stability of the software system throughout the development process.

This invention discloses a method for enhancing Martian surface images based on convolutional neural networks, comprising: acquiring an image to be processed; performing an image enhancement operation on the image to be processed, the image enhancement operation including: inputting the image into a Martian surface image enhancement neural network model to obtain noise information; and removing the noise information to obtain an enhanced image. By modeling Martian surface images collected by the "Zhurong" Mars rover, the problem of Martian surface image enhancement is transformed into a problem of solving Martian surface image noise. Based on this, a convolutional neural network is designed to solve for the noise in the Martian surface images, and combined with the Martian surface image model, to achieve the enhancement of the Martian surface images. This invention can effectively improve the image acquisition quality of Mars rovers such as "Zhurong," effectively enhance the autonomous perception capabilities of the rovers, and thus contribute to the autonomous navigation and obstacle avoidance capabilities of Mars rovers such as "Zhurong."

This invention relates to a high-speed unmanned Mars rover with active suspension mode switching, belonging to the field of deep space exploration technology. It includes a running frame, a suspension system, and a switching mechanism. The running frame comprises a chassis, a connecting beam, two swing arms, and two connecting rods. The suspension system includes an outer rigid plate and a lower shock absorber. The switching mechanism includes a pivot shaft, an outer moving plate, and an actuator. This invention first utilizes the lower shock absorber, connecting its two ends to the lower frame and the outer rigid plate respectively. Then, the pivot shaft, fixed to the upper frame, slides between curved holes, straight holes, and enlarged-diameter holes. This allows the rover to level itself when parked by sliding the pivot shaft in the curved holes; it also allows the rover to swing with the two swing arms when traveling at low speeds by sliding the pivot shaft in the straight holes; and it allows the rover to switch between flexible, passive, and rigid suspension modes when traveling at high speeds by sliding the pivot shaft in the enlarged-diameter holes, using the vibrations and shocks from the two swing arms to transmit to the chassis.

The invention particularly relates to a Mars weathered rock image generation method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a Mars weathered rock sample; generating a Mars rock data set based on the Mars weathered rock sample, and migrating knowledge of a preset CGAN model to the Mars rock data set to obtain a migrating optimized Mars rock data set; and generating a Mars weathered rock microscopic image based on the Mars rock data set after migration optimization, comparing the Mars weathered rock microscopic image with the Mars weathered rock sample, and evaluating the generation quality of the Mars weathered rock microscopic image according to a comparison result. Therefore, through earth weathered rock database transfer learning, construction of the conditional generative adversarial network and generation of the Mars weathered rock microscopic image, the problem that depicting of Mars rock characteristics in related technologies has great limitation is solved, and technical support is provided for Mars probe landing area site selection, drilling strategy making and in-situ resource utilization.

A Mars rover wheel based on rolling grass belongs to the technical field of deep space exploration and is formed by fixing two single wheels together, each single wheel comprises a wheel face and a spoke, and the spoke is provided with a central shaft tube; the wheel face is of a double-layer structure, the inner ring is of a parallelogram taper hole structure, the windward deflection angle can capture wind energy on the surface of Mars according to the Venturi effect, and therefore the wind energy can be utilized to reduce energy consumption. The protrusions of the outer ring effectively enhance the traction force of the wheel on the soil of Mars, and the risks of slipping and sinking are reduced. The crossed surfaces of the spokes close to the central shaft tube are filled with cones; the spokes are distributed in a radial shape, and the concentrated load is decomposed into a distributed micro stress field. The spoke is a structural bionic structure of a filiform parting structure of the rollastonia; on the premise that the bearing capacity is guaranteed, the mass of the system is reduced, the driving energy consumption is reduced by means of wind power, the impact resistance and the pressure resistance are remarkably improved, and the system is suitable for the Mars environment.

An embodiment of the present invention provides a Mars rover landing navigation method and system, comprising: establishing a measurement model based on visible landmarks at the current moment; obtaining a Fisher information matrix for each visible landmark based on the measurement model; calculating the trace corresponding to each visible landmark; constructing a preferred landmark distribution configuration when the number of visible landmarks is at least three, with the constraints of selecting multiple visible landmarks as preferred landmarks and maximizing the sum of their traces while minimizing the number of preferred landmarks; solving the preferred configuration using a greedy algorithm to determine the preferred landmarks; and navigating the Mars rover to landing using the preferred landmarks. This technical solution dynamically determines the optimal number of landmarks at each moment, achieving high-precision autonomous navigation and overcoming the onboard computing resource redundancy caused by an excessive number of landmarks and the low navigation accuracy caused by an insufficient number of landmarks.

A miniature spider-like Mars flying exploration robot driven by wind and electric field can carry different types of sensors and land on Mars together with large-scale devices such as Mars rovers without the need for additional driving energy to achieve parameter detection. It relates to the field of micro-robot technology. The main body of the detector is a spider bionic foot structure that plays a supporting and attitude control role; the fiber charging system charges multiple fiber filaments so that after being charged, the multiple fiber filaments repel and disperse from each other due to the same charges, and interact with the opposite charges in the Martian atmosphere, so that the fiber filaments can stand upright, increase the resistance area, and prepare for takeoff by relying on the wind field; the attitude control system applies electricity to the bionic foot to enable the bionic foot to flex and extend. The asymmetric flexion and extension of the six bionic feet changes the wind resistance and thus causes the force to change, thereby adjusting the flight direction; the present invention is suitable for miniature spider-like detectors for detecting planets with thin atmosphere and electric field environments such as Mars.

1. The name of this design product: Computer stand (Mars rover computer stand). 2. Purpose of this design product: a stand for a computer. 3. The key design point of this design product lies in the combination of shape and pattern. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The application discloses a kind of Mars rock measurement methods based on hemispherical projection model, belong to the field of scene reconstruction;Specifically, first, the surface of Mars is photographed using binocular camera, modeling is carried out from camera principle and Mars car mechanical principle respectively, the corresponding relationship between the pixel points of each image and the real surface of Mars is established;And pose information of camera in Mars global coordinate system;Then, the intrinsic parameters of each image are analyzed, the distortion is corrected, and the left and right image pairs of binocular camera are corresponded, and the disparity map is calculated based on the matching feature points.Next, the rock outline in the existing Mars surface image segmentation dataset is used to determine the pixel position and distribution edge of the rock in the current disparity map, and the current disparity map is optimized using the disparity filtering algorithm;At the same time, combined with the pose of different cameras, the distance and position of the repeatedly appearing rock are calculated, and the distribution of the rock in the current disparity map is determined by verifying each other.The application improves the disparity estimation accuracy.

1. The name of this design product: Teaching Aid (Mars Rover). 2. The purpose of this design product: as a teaching aid for students and children to make by themselves, to exercise their hands-on ability and understand the principle of converting clean energy solar energy into electrical energy. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The invention discloses a super-lubricating diselenide film based on a carbon dioxide interface activation effect as well as a preparation method and application thereof, and belongs to the technical field of solid lubricating materials in an extreme environment. The chemical formula of the thin film is MSe2, M is one of Nb, Mo or W. The thin film is prepared by adopting a high-power pulse magnetron sputtering technology and has a compact, high-hardness and high-elasticity nanocrystalline / amorphous composite structure. The core of the invention is to discover and utilize the synergistic effect of'atmosphere-induced interface structure ordering 'generated when the film rubs in a low-pressure CO2 atmosphere. And CO2 participates in the friction interface process under the atmosphere environment that the partial pressure of CO2 is 10-1000 Pa, ordered rearrangement of a thin film layered structure is promoted, a transition bonding layer with enriched M elements is formed on the interface of a transfer film and a mating plate, and therefore friction and abrasion are remarkably reduced. In a simulated Mars surface environment (500 Pa, COgt, 95%), the thin film shows super-lubricating performance exceeding a high vacuum environment, for example, the friction coefficient of a WSe2 thin film can be as low as 0.014, and the wear rate reaches 10 <-7 > mm < 3 > N <-1 > m <-1 > magnitude. A high-performance and environment-adaptive solid lubrication solution is provided for moving parts of deep space exploration equipment such as a Mars rover in a CO2 enrichment extreme environment.