34 results about "Martian surface" patented technology

The invention relates to a Mars mineral identification method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a Mars surface image in a preset wavelength range; acquiring a plurality of mineral pattern spots of the Mars surface image in a pixel-by-pixel manner; extracting deep spatial spectral features of different mineral pattern spots through a pre-trained multi-scale adaptive convolutional neural network; and classifying minerals contained in the Mars surface image according to the deep spatial spectral features of all mineral pattern spots to obtain a classification result. According to the method, the Mars surface image is obtained by combining near-infrared hyperspectral imaging, deep spatial spectral features of different mineral pattern spots are extracted based on the pre-trained multi-scale adaptive convolutional neural network, and rapid, lossless and accurate identification of Mars minerals can be realized.

The invention relates to a Mars mineral spectrum identification method and device based on deep learning. According to the Mars mineral spectrum recognition method based on deep learning, through four-dimensional constraints of standard deviation, spectral length, absorption depth and overall reflectivity, a background spectrum in an image is adaptively recognized, a ratio spectrum is calculated by taking a dynamic background spectrum as a reference, and interference of non-target factors such as atmospheric scattering and instrument noise can be effectively eliminated. The end member spectrum is directly extracted from the hyperspectral image, and the second ratio spectrum is combined with the preset standard spectrum library to construct the mixed spectrum library containing the Mars specific minerals, so that the data insufficiency of the preset standard spectrum library is made up, and the problem of poor regional adaptability caused by directly adopting the preset standard spectrum library is also avoided; that is, direct use of the earth spectrum library may not accurately reflect the Mars surface features, so that the adaptability of the model to the Mars surface is improved, and it is ensured that the model has higher recognition accuracy in a specific environment of Mars.

The invention relates to the technical field of planet remote sensing data processing and three-dimensional reconstruction, and discloses a Mars three-dimensional terrain reconstruction method based on feature enhancement and multi-view stereo matching, which comprises the following steps: firstly, obtaining and preprocessing Mars stereo image data; secondly, extracting texture features based on a gray-level co-occurrence matrix, and performing region segmentation by using local entropy to distinguish a high texture region from a low texture region; then, parameters such as the size of a matching block and a similarity threshold value are adaptively adjusted according to a segmentation result, and a multi-dimensional mixed feature descriptor is generated to perform homonymy point matching; a coupling threshold model of the solar incident angle and the terrain roughness is constructed, and parallax calculation of the shadow and the steep terrain is optimized; and finally, combining cross-scale parallax propagation and global bundle adjustment to reconstruct a three-dimensional terrain model. According to the method, the technical problems that the matching reliability of areas such as weak textures and shadows on the surface of Mars is insufficient and the model is discontinuous are solved, and the integrity, the self-adaptability and the global precision of the reconstruction model are improved.

The present invention discloses a low-pressure temperature control experimental cabin for Mars environment simulation test and an experimental method, which relates to the technical field of ground simulation equipment for Mars environment and solves the problem of insufficient comprehensive simulation ability of ground simulation equipment for Mars environment, especially in terms of temperature. The experimental cabin of the present invention has an inner and outer double-layer cavity. The upper cover of the experimental cabin is provided with a refrigeration expander and a vacuum baffle valve connected to the inner cavity; the vacuum baffle valve connected to the inner cavity is communicated with the inner cavity body, and the refrigeration expander is connected to the inner cavity body; an outer cavity connection vacuum baffle valve and an outer cavity air intake channel provided on the outer cavity are communicated with the outer cavity, and an inner cavity air intake channel on the outer cavity is communicated with the inner cavity body; a condenser and a heater are provided on the inner cavity body, and a copper cold screen is arranged inside. The refrigeration expander, the condenser and the copper cold screen are connected in sequence. The present invention can fully simulate the surface temperature, gas environment and pressure environment of Mars, make up for the deficiencies of ground simulation experimental devices for Mars environment, and provide equipment support for fields such as aerospace and Mars exploration.

The present invention relates to a method and device for identifying Martian mineral spectra based on deep learning. The Martian mineral spectra identification method based on deep learning uses four-dimensional constraints, namely, standard deviation, spectrum length, absorption depth, and overall reflectivity, to adaptively identify background spectra in images, and calculate ratio spectra based on dynamic background spectra, effectively eliminating interference from non-target factors such as atmospheric scattering and instrument noise. By directly extracting endmember spectra from hyperspectral images and combining the second ratio spectrum with a preset standard spectrum library, a mixed spectrum library containing Martian-specific minerals is constructed, thereby making up for the lack of data in the preset standard spectrum library and avoiding the problem of poor regional adaptability of directly using the preset standard spectrum library, that is, directly using the Earth spectrum library may not accurately reflect the surface characteristics of Mars, thereby improving the adaptability of the model to the Martian surface and ensuring that the model has higher recognition accuracy in the specific environment of Mars.

The application provides a device and a method for in-situ preparation of methane propellant applied to a Mars surface. The device for in-situ preparation of methane propellant comprises a gas distribution system, a reaction gas pretreatment system, a Sabatier reaction system and a product collection system. The gas distribution system is used for conveying carbon dioxide and hydrogen gas prepared on the Mars surface to the reaction gas pretreatment system after pretreatment; the reaction gas pretreatment system is used for mixing and heating the carbon dioxide and the hydrogen gas to form preheated mixed reaction gas and conveying the preheated mixed reaction gas to the Sabatier reaction system; the Sabatier reaction system is used for generating methane and water through a Sabatier reaction of the preheated mixed reaction gas, and the Sabatier reaction system comprises a Sabatier reactor and a circulating air assembly for stabilizing a temperature field in the Sabatier reactor; and the product collection system is used for separating and collecting the methane and the water generated through the Sabatier reaction. The Sabatier reactor is equipped with the circulating air assembly for stabilizing the temperature field in the Sabatier reactor, so that the Sabatier reactor has a stable temperature field and a flow field under different reaction gas flow rates.

The invention discloses a Mars surface flight-oriented ornithopter attitude estimation method, which comprises the following steps: sensor data acquisition: acquiring original data of a Mars ornithopter through a sensor; sensor data filtering processing: carrying out data filtering processing on the original data acquired by the sensor; preprocessing sensor data, performing complementary filtering processing on the filtered data, and taking an obtained attitude quaternion as an estimation reference of an attitude estimation algorithm; attitude estimation: fusing the preprocessed sensor data by adopting an improved self-adaptive gradient descent algorithm to obtain a final attitude estimation result; and attitude description and updating: updating the attitude of the Mars flapping-wing aircraft by adopting a quaternion method, and converting the attitude into attitude angle information as attitude description. Through data preprocessing and an improved gradient descent algorithm, rapid and accurate convergence of attitude estimation is ensured, and the real-time performance of the system is ensured.

The application relates to a connecting rod type rope-driven sampler for a Mars spacecraft and belongs to the technical field of space Mars spacecrafts. The sampler solves the problem that a Mars surface sample collecting device cannot be installed at the bottom of a multi-rotor Mars spacecraft, thereby affecting task execution. The sampler comprises a supporting arm mechanism, a wire wheel driving motor, a claw end wire wheel, a claw arm, a motor end wire wheel, a rope, a spring and a wire distribution wheel. One end of the supporting arm mechanism is provided with the motor end wire wheel, the other end of the supporting arm mechanism is provided with the claw end wire wheel, the other end of the supporting arm mechanism is further provided with the wire distribution wheel and the claw arm, one end of the rope is wound on the motor end wire wheel, the other end of the rope is sequentially wound on the claw end wire wheel, the wire distribution wheel and the claw arm, the output end of the wire wheel driving motor is connected with the motor end wire wheel, and the two ends of the spring are respectively connected with the claw arm and the supporting arm mechanism. The sampler has a clever structure, reduces the complexity of controlling the sampler during task execution, is not prone to damage, and provides guarantee for smooth task execution.

The invention discloses a self-correction state forecasting and fusion estimation method for a Mars pneumatic auxiliary orbit descending model, and belongs to the technical field of deep space exploration. The implementation method comprises the following steps: integrating various perturbation of a detector, and establishing a dynamic model suitable for long-term orbit extrapolation; the orbiter observes a natural large landmark on the surface of the Mars by using a navigation camera to obtain azimuth information of the landmark; when the detector is far away from the Mars, azimuth information of the Mars is obtained through the navigation camera; when the distance is closer to the Mars, observing a satellite surface landmark, and acquiring azimuth information of the landmark; the detector and the orbiter measure the relative distance and orientation through radio, and the measurement information obtained through fusion corrects the extrapolation result of the orbit. When the detector is located in the atmosphere, an accelerometer is used for measuring the external force acceleration of the detector, and inertial navigation is achieved. The atmospheric density is corrected by using the dynamic pressure and the heat flux density, and re-recursion is performed on the state of the detector, so that the state estimation precision of the detector in the Mars atmosphere is improved.

This invention provides a method for screening characteristic bands of Martian surface minerals, comprising: acquiring a standard hyperspectral dataset of Martian minerals, dividing it into a training hyperspectral dataset and a test hyperspectral dataset according to a preset division ratio, and performing data preprocessing on each dataset; constructing a band screening supervised learning network model, iteratively training it on the preprocessed training hyperspectral dataset to obtain an optimized band screening supervised learning network model, and determining the band screening results; performing band screening on the preprocessed test hyperspectral dataset based on the band screening results, and determining the test classification accuracy; and, if the test accuracy meets a preset accuracy condition, performing band screening on the Martian mineral hyperspectral dataset to be screened according to the optimized band screening supervised learning network model to obtain the target screening dataset. This method can accurately screen characteristic bands of Martian surface minerals, thereby improving the accuracy of Martian surface mineral identification and classification.

The present application relates to a kind of preparation methods for different characteristic Mars weathered layer simulation object, comprising: obtaining the chemical element information of real Mars weathered layer, selecting the brown red volcanic rock with approximate chemical characteristics as raw material and drying;The dry raw material is pulverized, classified and screened, and a plurality of particle size components are obtained;Design different types of target particle size grading, to simulate the typical mechanical properties of different regions on the surface of Mars, each grading can be used as dry state regolith sample.Add water or salt solution to dry state regolith sample, and form frozen sample by low temperature, to simulate high latitude or shallow ice frozen environment on Mars.In addition, secondary mineral powder can also be added to simulate the surface environment of Mars after acidification or salinization weathering, to realize more complex chemical characteristics demand.The present application is simple in process, suitable for mass production, and the simulation object and Mars weathered layer have good correspondence in chemical composition, physical and mechanical properties, and simulation regolith can be produced to cope with various working conditions.

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 present application relates to a Mars surface sample collector and method based on differential bevel gears and rope driving, and belongs to the technical field of Mars sampling and returning. It comprises a connecting bracket for installing a driving assembly, the output end of the driving assembly being connected with a differential motion assembly for driving the differential motion assembly, the differential motion assembly driving a rope-driven grabbing assembly to act, and the rope-driven grabbing assembly being used for grabbing and releasing samples. The present application designs a Mars surface sample collector based on differential bevel gears and flexible rope driving, which can realize the actions of sampling point adjustment, jaw clamping and arm recovery fixation under the driving of three motors, reduces the number of driving motors while ensuring the adaptability of the sampling device to the position error of the docking point, simplifies the action of sample collection, improves the reliability of sample collection of the sampling device in the autonomous running state, and reduces the launch mass of the equipment.

This disclosure discloses a simulation system for rock weathering in an extreme environment of Mars. The simulation system for rock weathering in an extreme environment of Mars includes a vacuum chamber, a storage structure, a temperature simulation unit, a gas circulation simulation unit, a wind speed simulation unit, and an illumination simulation unit. This disclosure further discloses a simulation test method for rock weathering in an extreme environment of Mars. Compared with the prior art, the simulation system for rock weathering in an extreme environment of Mars prepared by this disclosure can synchronously simulate extreme environments such as a vacuum environment, an atmospheric environment, a temperature environment, an illumination environment, and a sand and dust environment on a surface of Mars, monitors changes such as mass, porosity, and surface deformation of the sample in the weathering process in the extreme environment of Mars of the simulation system.

The present invention discloses a rock weathering simulation system under extreme Martian environments. The system comprises a vacuum chamber, a storage structure, a temperature simulation unit, a gas circulation simulation unit, a wind speed simulation unit, and a light simulation unit. The present invention also discloses a rock weathering simulation test method under extreme Martian environments. Compared with the prior art, the rock weathering simulation system under extreme Martian environments prepared by the present invention can simultaneously simulate extreme environments such as the vacuum, atmospheric, temperature, light, and dust environments on the Martian surface. It monitors changes in the sample's mass, porosity, and surface deformation during weathering under the simulated Martian extreme environment, and systematically evaluates the sample's weathering characteristics.

The present invention discloses a method for increasing the boiling point temperature of methane propellant, which relates to the field of cryogenic propellants. The method comprises: separating the carbon dioxide component in the Martian atmosphere and converting it into a liquid state, which is stored in a carbon dioxide storage tank; converting part of the liquid carbon dioxide in the carbon dioxide storage tank into a product gas containing gaseous methane; separating and purifying the product gas to obtain high-purity methane gas, converting it into liquid methane, and storing it in a methane storage tank; uniformly mixing the liquid carbon dioxide in the carbon dioxide storage tank with the liquid methane in the methane storage tank; and transporting the mixed product to a spacecraft tank via a pipeline. The overall boiling point temperature of the methane propellant containing liquid carbon dioxide is increased, thereby reducing the evaporation loss of the propellant during the spacecraft's navigation. In the in-situ preparation process of methane propellant on the Martian surface, the present invention utilizes captured liquid carbon dioxide as an additive medium to increase the boiling point of the methane propellant, and achieves the set target according to the colligative principle.

The invention relates to a Mars surface atmosphere trapping and compressing device and a method thereof. The Mars surface atmosphere trapping and compressing device comprises a pipeline system, a Mars atmosphere filtering system, a vacuum radiator, a low-pressure storage tank, a high-pressure storage tank, a scroll compressor and a plunger compressor. The scroll compressor adopts a three-scroll-ring design and is internally provided with parts such as a fixed disc with a built-in cooling channel; the plunger compressor adopts a three-piston parallel design, and is internally provided with a compression cavity with a built-in cooling channel and other parts; and the scroll compressor is connected with the plunger compressor through a double-head motor. Mars atmosphere firstly flows into the scroll compressor through the Mars atmosphere filtering system to be compressed to the low-pressure storage tank, and then flows into the plunger compressor to be compressed to the high-pressure storage tank; a loop is led out through the high-pressure storage tank, flows through the vacuum radiator, flows into the fixed disc with the built-in cooling channel and the compression cavity with the built-in cooling channel, and then flows back to the high-pressure storage tank through the vacuum radiator. The device is compact in structure, high in compression rate, advanced in heat dissipation technology and capable of achieving efficient collection and compression of atmosphere on the surface of Mars.

The invention relates to the crossing field of multi-agent control and space exploration technologies, and provides a multi-agent reinforcement learning formation control method and system for a rarefied Mars atmosphere in order to overcome the applicability defect of an existing multi-agent formation control method in an extreme Mars environment. The method comprises the following steps: firstly, sensing and accurately estimating a mars rarefied atmosphere state in real time, and providing reliable environment input for a control decision; secondly, an optimal control instruction is generated for each unmanned aerial vehicle through a multi-agent reinforcement learning framework; state information asynchronization caused by communication time delay and packet loss is processed through a communication and time delay compensation strategy, and real-time performance and stability of formation control are guaranteed; and finally, formation topology dynamic adjustment in a fault scene is realized through formation topology management and an adaptive reconstruction strategy, so that the fault-tolerant capability of the system to member faults is improved, and continuous execution of a Mars exploration task is ensured. The method can be widely applied to deep space exploration tasks such as Mars surface exploration, topographic mapping and resource exploration.

The application provides a Mars surface rock classification system and method based on a meta-attention mechanism, and relates to the technical field of image classification and identification.The system is configured with a meta-attention mechanism for a neural network model, so as to assign an attention mask to each image block of a Mars image, so as to adjust the self-attention value of each transformer unit of the neural network model.Meanwhile, the meta-attention mechanism can also determine the weight value corresponding to each neuron, and adjust the weight matrix of the feedforward neural network of the neural network model through the weight value, so that the classification accuracy can be effectively improved when facing different Mars rock classification tasks, and since the computing device deployed on Mars has limited resources, the system can avoid large-scale parameter adjustment and model retraining of the model when facing different classification tasks and different types of rock regions, thereby saving computing resources and time.

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 invention provides a Transformer-based method for identifying Martian surface minerals, comprising: dividing a preprocessed Martian mineral standard hyperspectral dataset into a training dataset, a validation dataset, and a test dataset; then constructing a mineral identification Transformer model; training the mineral identification Transformer model using the training and validation datasets to obtain an optimized model; testing the optimized model using the test dataset and determining the test classification accuracy; finally, if the test accuracy meets a preset accuracy condition, inputting the Martian mineral hyperspectral data to be identified into the optimized mineral identification Transformer model, and outputting the Martian mineral classification and identification results. This effectively improves the accuracy of Martian mineral classification and identification.

The invention relates to a Mars landing point selection method based on multi-agent decision, and the method comprises the following steps: building a Mars surface virtual environment model based on multi-source remote sensing data, abstracting a scientific target into a space entity through building a space grid, and defining an engineering constraint parameter as a space attribute; setting four types of agent roles: a manager, an engineer, a scientist and an evaluator, and defining a corresponding behavior decision rule for each type of agents to realize agent modeling; and each type of intelligent agent senses virtual environment information and performs dynamic interaction and collaborative decision with other intelligent agents according to respective behavior decision rules, so that a landing point selection process is optimized, and an optimal candidate landing area is determined. Compared with the prior art, the Mars landing point automatic selection method can realize Mars landing point automatic selection under multi-target and multi-constraint conditions, and has the advantages of high intelligent degree, strong task change adaptation capability, scientific and reasonable site selection result and the like.

This invention proposes a method and system for analyzing Martian surface degradation and erosion rates based on impact crater classification, relating to the fields of planetary remote sensing and planetary geology. The method includes classifying impact craters into degradation levels and calculating their absolute ages; calculating the average depth and average edge uplift of all impact craters at each degradation level within a defined diameter scale; calculating the impact crater degradation rate and impact crater erosion rate between any two degradation levels based on the absolute ages of impact craters at each degradation level; and fitting these curves to obtain impact crater degradation rate and impact crater erosion rate curves. This invention classifies impact craters into multiple degradation levels based on morphology and degree of damage. Combining the morphological parameters and absolute dating results of each level, it calculates two destructive factors—the surface degradation rate and erosion rate—of the Martian study area, and generates complete degradation rate and erosion rate curves that reflect the changes in the study area over time.

The application discloses a Mars surface spectrum simulator, comprising a light source assembly, a light homogenizer and a filter set; the light source assembly is used for emitting a light beam; the light homogenizer and the filter set are sequentially arranged on a propagation path of the light beam; the light homogenizer comprises a plurality of discrete lens groups and is used for splitting the light beam and emitting a uniform light beam; and the filter set is used for adjusting the spectrum of the uniform light beam and emitting a Mars surface simulation light beam. The Mars surface spectrum simulator provided in the embodiment of the application splits a Gaussian-distributed light beam into a plurality of light beams by arranging the light homogenizer to comprise a plurality of discrete lens groups, the plurality of light beams are superimposed to form a uniform light beam with high uniformity distribution, the filter set is used for adjusting the spectrum of the uniform light beam, the uniform light beam is modulated, the spectrum of the uniform light beam is similar to that of the Mars surface, and therefore the Mars surface simulation light beam with high uniformity distribution is realized.

The invention relates to the technical field of Mars exploration, and provides a Mars energy stability evaluation method and a base site selection method.The Mars energy stability evaluation method comprises the steps that a Mars surface research area is divided into a plurality of grids, and the dust entrainment cleaning period of each grid is extracted; for each grid, the Mars atmosphere wind energy density per hour is calculated, the actual wind energy of each Mars solar longitude is calculated by combining the efficiency of the wind driven generator and the swept area, and the annual average wind energy conversion energy is obtained by summing and averaging; for each grid, correcting the actual solar energy in combination with the dust-entrainment wind cleaning period to obtain corrected solar energy, and obtaining annual average solar conversion energy through summation and averaging; and for each grid, summing the annual average wind energy conversion energy and the annual average solar energy conversion energy to obtain annual average comprehensive conversion energy. The energy stability problem of future Mars / scientific research station site selection is solved.

The invention discloses a mars barrier impact crater extraction method in combination with an edge-guided double-branch transformer, and relates to the technical field of planet remote sensing intelligent processing and analysis, and the mars barrier impact crater extraction method in combination with the edge-guided double-branch transformer comprises the following steps: 1, obtaining mars remote sensing image data containing a barrier impact crater, segmenting the acquired data, and constructing a mask image data set required by semantic segmentation by using label making software; 2, constructing a semantic segmentation network combined with an edge-guided double-branch transformer, and dividing the network into two parts, namely an encoder and a decoder, by taking a UNet model as a skeleton; the encoder part adopts a double-branch structure and comprises an encoder taking improved ResNet50 as a skeleton, an encoder taking improved Transform as a skeleton and a feature fusion module; the decoder part comprises a plurality of decoding blocks and interacts with the encoder module of the corresponding layer through jump connection; and step 3, training and learning the features of the barrier impact craters in the barrier impact crater data set through the constructed network combined with the edge-guided double-branch transformer to obtain a final barrier impact crater extraction model. According to the invention, through the mutual cooperation of the double-encoder design, the edge-guided semantic aggregation module, the fast Fourier transform attention module and the feature fusion module, barrier collision crater extraction can be accurately carried out on the surface of the Mars, the accuracy of boundary extraction is improved, and the collision crater extraction efficiency is improved.

The invention relates to a preparation method of simulants for weathered layers of Mars with different characteristics, which comprises the following steps: acquiring chemical element information of a real weathered layer of Mars, selecting brownish red volcanic rock with approximate chemical characteristics as a raw material, and drying; the dried raw materials are smashed and screened in a classified mode, and components with various particle sizes are obtained; different types of target particle size gradation are designed to simulate typical mechanical properties of different areas on the surface of Mars, and each gradation can be used as a dry fire soil sample. Water or a salt solution is added into a dry-state fire soil sample, and a frozen sample is formed at low temperature and used for simulating a high-latitude or shallow freezing environment of Mars. In addition, secondary mineral powder can be added to simulate the surface environment of the sparks after acidification or salinization weathering, and more complex chemical characteristic requirements are met. The process is simple and convenient, the method is suitable for large-scale preparation, the simulant has good correspondence with a Mars weathered layer in the aspects of chemical components and physical and mechanical properties, and simulated fire soil coping with various working conditions can be produced.

The invention relates to a Mars surface sample collector based on differential bevel gear and rope driving and a method, and belongs to the technical field of Mars sampling and returning. The connecting bracket is used for mounting a driving assembly; the output end of the driving assembly and the differential motion assembly are installed, and the driving assembly is used for driving the differential motion assembly; the differential motion assembly drives the rope-driven grabbing assembly to act and is used for achieving space posture adjustment; and the rope-driven grabbing assembly is used for grabbing and releasing the sample. The Mars surface sample collector based on differential bevel gear and flexible rope driving can realize actions of sampling point adjustment, clamping of a clamping jaw and recovery and fixation of an arm lever under the driving of three motors, and the number of driving motors is reduced while the adaptive capacity of a sampling device to a stop point position error is ensured; the action of sample collection is simplified, the reliability of sample collection of the sampling device in an autonomous operation state is improved, and the emission quality of equipment is reduced.

A methane liquefaction system for the surface of Mars includes a methane cylinder, wherein the methane cylinder outlet is connected to the inlet of a non-insulated storage tank via a first cooler and a first compressor; the outlet of the non-insulated storage tank is connected to the outlet of a second cooler; the outlet of the first compressor is connected to the outlet of the second cooler; the outlet of the second cooler is connected via a heat exchanger, a Jiao-Tang expansion valve, and an inlet of a gas-liquid separator; the liquid outlet at the bottom of the gas-liquid separator is connected to the inlet of a liquid methane storage tank, the gas outlet at the top of the gas-liquid separator is connected to the inlet of a liquid methane storage tank after passing through a heat exchanger, a second compressor, and an insulated storage tank, the heat exchanger is connected to an expander, and the outlet of the insulated storage tank is connected to the inlet of the first compressor; the present invention utilizes solar energy during the daytime on Mars to achieve energy supply, utilizes the cold environment at night on Mars to provide the cooling capacity required for pre-cooling of methane gas liquefaction, thereby significantly reducing the energy consumption of methane liquefaction on the surface of Mars, and has the advantages of low unit liquefaction energy consumption, small radiator size requirement, and continuous operation day and night.

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."