18 results about "Martian surface" patented technology

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 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 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.

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 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 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 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 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.

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 specifically relates to an air-ground collaborative path planning system and method for Mars exploration, comprising: acquiring multi-scale images of the Martian surface through air-ground collaboration; constructing a high-precision panoramic map based on a proposed adaptive sampling affine scale-invariant feature transformation algorithm; and combining a deep learning rock segmentation algorithm and a fast travel method to achieve global obstacle avoidance and energy-optimized path planning in complex unstructured Martian terrain environments. This enhances the autonomous navigation capability in complex Martian terrain and solves the technical problems of limited environmental perception range, insufficient obstacle recognition accuracy, and poor path planning efficiency and smoothness in existing Martian ground exploration path planning technologies. It is applicable to cross-view environmental mapping, rock obstacle recognition, and global path planning for Mars UAVs and Mars ground exploration rovers in complex unstructured terrain.

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.

The invention discloses a device for sealing a spark sample, which is characterized in that a sealing tank body of the device adopts a double-layer design, a main space is used for loading a surface soil sample, and an interlayer space is used for storing a spark surface atmosphere sample and is sealed by electromagnetic valves connected in series; after work is completed, the sealed tank is automatically separated from the fixing frame and the driving mechanism, the detector only needs to carry the sample tank to return, and the return weight is reduced to the maximum extent; the driving mechanism drives the cover body assembly to complete lifting / descending and rotating movement to achieve opening and closing of the sealed tank body. The device for sealing the spark sample has the advantages of being small in size, light in weight, high in reliability, resistant to mechanics, space radiation and surface dust storm, wide in storage and working temperature range and capable of being used under the spark surface environment condition; the device is applied to loading and sealing of soil and atmosphere samples on the surface of Mars in a sampling and packaging subsystem of a Tianzhou No.3 detector.

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.