28 results about "Planetary exploration" patented technology

The invention discloses a scene understanding and intelligent decision-making method for a planet probe vehicle in a complex unknown environment, and relates to the technical field of deep space exploration and intelligent vehicles, and the method comprises the steps: obtaining multi-dimensional environment information; constructing a slump function based on the geometric morphology, motion characteristics and material attributes of the obstacle, and dynamically quantifying the risk of the obstacle; smoothing the potential field function by adopting Gaussian filtering, and dynamically adjusting the weight of a global potential field and the weight of a local potential field; in combination with an improved clustering algorithm, fuzzy regions of obstacles capable of being crossed and obstacles not capable of being crossed are accurately divided; screening passable areas by constructing a credibility mean square value function; carrying out multi-objective optimization by adopting a genetic algorithm, and generating an optimal path matched with the environment in cooperation with an offline data set and online reasoning; and inputting the optimal path into a bottom layer control system of the probe vehicle, controlling execution of a motor driving and steering mechanism, monitoring the state of the probe vehicle in real time, and triggering dynamic re-planning. And the autonomous obstacle avoidance capability and the path planning efficiency of the probe vehicle in a complex environment are improved.

The invention relates to the technical field of planet detection equipment testing, in particular to a planet patroller wheel and soil coupling physical characteristic experiment platform. Comprising a test frame, a data acquisition and analysis module, an environment and working condition simulation unit, a wheel driving unit and a moving unit, and the test frame is used for loading simulated planet soil or ground soil; the wheel driving unit is used for driving the test wheel to rotate and collecting mechanical parameters of the action of the test wheel and soil; the moving unit is connected with the wheel driving unit and used for achieving horizontal movement and passive vertical movement of the wheel driving unit. The environment and working condition simulation unit is connected with the wheel driving unit or the moving unit and is used for simulating different planet gravity environments or working condition resistance; and the data acquisition and analysis module is used for acquiring and analyzing multi-dimensional physical parameters in the wheel-soil coupling process. The device is flexible and safe in structure, can simulate multiple gravity environments and multiple working conditions, and can realize synchronous test and acquisition of multiple parameters.

The application provides a multi-mode cooperative planetary exploration robot, which adopts a modularized separable design to improve the functional integration and task flexibility, and has the cooperative working ability of three-state switching of wheel running, leg running and flight. The multi-mode cooperative planetary exploration robot comprises a main vehicle body, six-degree-of-freedom legs, a rotor-wheel composite assembly and a damping rocker assembly. The damping rocker assembly is separably connected to the lower end face of the main vehicle body and can be separated from the main vehicle body to serve as an independent exploration vehicle. Four six-degree-of-freedom legs are distributed in a rectangular shape on the bottom surface of the main vehicle body. Each six-degree-of-freedom leg is connected to a rotor-wheel composite assembly at the lower end. In the wheeled state, the arc-shaped sections are perpendicular to the spokes, and a plurality of arc-shaped sections are arranged in the circumferential direction to form a wheel body. In the flight state, the rotor-wheel composite assembly is flipped upward to above the main vehicle body. By changing the length of the spoke, the arc-shaped section connected to the spoke is stretched out. At the same time, the arc-shaped section is flipped to the same horizontal plane as the spoke to serve as a blade together with the spoke.

The present invention discloses a method and device for estimating the internal dielectric constant of an asteroid based on a single-station orbital radar, relating to the field of planetary exploration. The method primarily comprises: separating diffraction waves from single-station orbital radar recordings, determining the number of diffraction points within the asteroid and the range of values ​​for the scanned dielectric constant; setting a diffraction point and a scanned dielectric constant value within the asteroid, solving the eikonal equation to obtain the travel time of the diffraction wave, and calculating the superposition energy of the diffraction waves within a fixed time window starting from the travel time; repeating the previous steps until all positions within the asteroid and the range of values ​​for the scanned dielectric constant are traversed; selecting several local maxima from all the superposition energies, determining the diffraction point positions and scanned dielectric constant values ​​corresponding to all the maxima; and interpolating the results to obtain the dielectric constant distribution within the asteroid. Implementing the method and device for estimating the internal dielectric constant of an asteroid based on a single-station orbital radar provided by the present invention can quickly and accurately obtain the internal dielectric constant distribution of the asteroid.

The invention relates to a multifunctional gradient heat protection structure suitable for a planetary exploration reentry capsule, which comprises a large-area heat protection layer, an end cap, a bearing structure, a silicone rubber layer, a connecting screw and a gasket, and is characterized in that the large-area heat protection layer comprises a surface anti-ablation layer and an internal heat insulation layer; the internal heat insulation layer and the bearing structure are glued through a silicone rubber layer, and a surface anti-ablation layer is laid on the outer surface of the internal heat insulation layer; the end cap is embedded into the large-area heat-proof layer and glued with the anti-ablation layer and the heat insulation layer, and the part, embedded into the end cap, of the large-area heat-proof layer is fixedly connected with the internal force bearing structure through a connecting screw and a gasket; an inclined angle of 10-20 degrees is formed between the surface anti-ablation layer and the local airflow direction; the end cap is a 2.5 D woven viscose-based carbon fiber / phenolic aldehyde end cap. The problems that a single heat-proof material cannot meet the requirements for heat protection, heat insulation, light weight and miniaturization at the same time, and interface layers of different materials crack and peel off at the ultrahigh temperature are solved, and the connection reliability of the heat-proof structure is improved.

Systems, methods, and devices are directed to providing charge mitigation via a MXene-based conductive pathway on a spacesuit. In one aspect, a system for planetary exploration to provide charge mitigation on an outer surface of the spacesuit comprises a multilayered fabric including a woven layer, wherein the woven layer includes a first side to face a space environment and an opposing side to face a body of a wearer of the spacesuit and a MXene coating layer applied on the opposing side, wherein the MXene coating layer extends through the thickness the woven layer to conductively couple a first location on an exterior surface of the spacesuit with a second location on the exterior surface of the spacesuit.

The application provides a planetary exploration strong radiation environment progressive ionizing radiation shielding protection method, which comprises the following steps: according to a planetary exploration task, carrying out space radiation environment analysis, forming an ionizing total dose depth curve table, and formulating a space environment protection design requirement; collating total single machine anti-total dose capacity indexes, and forming a single machine anti-ionizing radiation capacity statistics table; confirming a protection level of matching of each single machine and the space environment protection design requirement; forming a strong radiation environment progressive shielding protection single machine list; evaluating an effect of the progressive ionizing radiation shielding protection strategy; formulating a progressive ionizing radiation shielding protection implementation scheme, and clearly defining single machine protection levels, shielding protection strategies, platform layouts and guarantee conditions, and forming an engineering implementation scheme. The application provides a strong radiation environment protection method for the ionizing radiation protection requirement of the planetary exploration task, and can be applied to engineering and implementation.

The application discloses a LIBS cross-instrument spectral library migration method and system based on spectral calibration and deep learning, and relates to the technical field of laser-induced breakdown spectroscopy (LIBS) analysis.The application aims at the technical problems that the existing LIBS cross-instrument calibration method cannot fit the nonlinear spectral difference between instruments, the spectral library multiplexing is poor, and the cross-device model deployment precision is low, and proposes a hybrid spectral calibration-deep spectral migration (HSH-DSM) framework, which realizes high-precision conversion of source domain LIBS spectrum to target domain LIBS spectrum through three core steps of physical guided spectral preprocessing, local intensity calibration and adjustable multi-layer perceptron (MLP) deep spectral migration.This method can realize LIBS spectral library cross-instrument multiplexing, greatly reduce the library building cost, and is suitable for LIBS cross-device detection scenes such as geological exploration, industrial detection, environmental monitoring and planetary exploration.

The invention provides a multi-mode cooperative planetary exploration robot which adopts a modular separable design to improve the function integration level and the task flexibility. And the robot has the collaborative operation capability of switching three states of wheel running, leg running and flying. The multi-mode cooperative planetary exploration robot comprises a main vehicle body, six-degree-of-freedom legs, a rotor-wheel composite assembly and a damping rocker arm assembly. The damping rocker arm assembly is detachably connected to the lower end face of the main vehicle body and can be separated from the main vehicle body to serve as an independent detection trolley. The four six-degree-of-freedom legs are distributed on the bottom surface of the main vehicle body in a rectangular shape; the lower end of each six-degree-of-freedom leg is connected with a rotor wing-wheel composite assembly. In the wheel type state, the arc-shaped sections are perpendicular to the spokes, and the multiple arc-shaped sections are arranged in the circumferential direction to form a wheel body; in the flying state, the rotor wing-wheel composite assembly is turned upwards to the position above the main vehicle body; the lengths of the spokes are changed, and the spokes extend to stretch out the arc-shaped sections connected with the spokes; and meanwhile, the arc-shaped sections are overturned to be in the same horizontal plane with the spokes and serve as blades together with the spokes.

This invention discloses a control method for a quadrupedal bionic robot applied to planetary exploration, belonging to the field of robot control. The method includes: fusing data from multiple sensors to construct a local elevation map of the terrain and simultaneously estimating the robot's posture; combining preset planetary gravity parameters to construct an environmental cognition model containing information on environmental geometry and physical characteristics; and selecting or adjusting gait parameters online from a gait library based on environmental geometric information. Compared with existing technologies, the advantages of this invention are: by dynamically correcting planetary gravity parameters, this invention enables the robot's motion control to match the actual planetary gravity environment, thereby ensuring the stability of the core gait; and by addressing the problem of insufficient foot gripping force caused by low gravity, it effectively ensures the robot's passability on complex terrain by real-time monitoring of foot sliding trends and coordinated adjustment of vertical impedance parameters and foot mechanical shape.

The application provides a second-order curved surface wave integral surface clutter simulation method of a planetary exploration radar, and can be applied to the technical field of radar signal processing. The method comprises the following steps: performing triangular facet division on a surface model of a target planet to obtain a plurality of triangular facets; obtaining relative distances from a radar observation point to points of each triangular facet except the center of gravity, wherein the relative distance is in a function form; based on a physical optics method, establishing a scattering electric field integral expression of each triangular facet containing the relative distance, and performing second-order Taylor expansion on the relative distance to retain a first-order term and a second-order term; based on an analytical solution of the first-order term and the second-order term, obtaining an analytical solution of second-order curved surface wave integral of the scattering electric field of each triangular facet, and calculating a corresponding scattering electric field; and accumulating the scattering electric fields of the plurality of triangular facets to obtain surface clutter of the target planet. In this way, high-precision and high-efficiency radar surface clutter simulation can be realized.

This application provides a second-order surface wave integral surface clutter simulation method for planetary exploration radar, which can be applied to the field of radar signal processing technology. The method includes: dividing the surface model of the target planet into triangular facets to obtain multiple triangular facets; obtaining the relative distances from the radar observation point to all points of each triangular facet except the centroid, where the relative distances are in functional form; establishing an integral expression for the scattered electric field including the relative distance for each triangular facet based on physical optics, and performing a second-order Taylor expansion on the relative distances, retaining the first and second-order terms; obtaining the analytical solution of the second-order surface wave integral of the scattered electric field for each triangular facet based on the analytical solutions of the first and second-order terms, and calculating the corresponding scattered electric field; and summing the scattered electric fields of multiple triangular facets to obtain the surface clutter of the target planet. This method enables high-precision and high-efficiency radar surface clutter simulation.

The disclosed embodiments describe an integrated aerial exploration system for deployment on a planetary surface, the system including: a rotorcraft configured for flight in a low-density atmosphere and adapted to carry a scientific payload; an enclosure housing the rotorcraft during launch, transit, and landing, the enclosure including a mounting interface for attachment to a host vehicle and a cover movable to provide an opening for deployment of the rotorcraft; and a deployment mechanism configured, upon activation, to move the rotorcraft from within the enclosure to a position outside the enclosure through said opening; where activation of the deployment mechanism automatically releases the rotorcraft from the enclosure and deploys one or more stowed components of the rotorcraft into a flight-ready configuration for aerial operation.

The invention provides a spider-like planet robot, and belongs to the field of spaceflight planet exploration, the spider-like planet robot comprises a robot body and N support legs, N is an integer greater than 4, the robot body comprises a robot box body, a bottom support and root driving assemblies, the root driving assemblies are distributed at the vertex angle and the edge of the robot box body, and the bottom support is connected with the robot box body. The M bottom supports are symmetrically distributed at the bottom of the robot box, M is an integer larger than 4, the N root driving assemblies are connected with the N supporting legs in a one-to-one correspondence mode, and all the supporting legs are of the same structure; according to the planet robot, multi-configuration change can be achieved, the requirement for star catalogue detection of different terrains can be met, and adaptability is higher; a spider-like structure is adopted for crawling and wheel type movement, and the robot runs more stably and reliably under the complex ground; the robot adopts the modular design of the supporting legs, is easy to assemble and debug, and can reduce the production cost.

The invention discloses a wheel-ground interaction measurement system for a planetary exploration robot, and belongs to the technical field of planetary exploration robots. The system is installed at the tail end of a mechanical arm of the planetary probe vehicle and comprises a wheel body, a multi-dimensional wheel force sensor, a multi-camera visual module, a main control and processing unit, a driving motor, a sliding ring and an installation interface module matched with the mechanical arm. Through active rolling, the six-dimensional acting force / torque between the wheel and the planetary terrain is measured in situ, an image of a wheel-soil contact area is obtained, and the subsidence amount and the contact angle of the wheel are calculated. According to the invention, the mechanical arm is flexibly deployed to the to-be-detected area in front of the probe vehicle, trampling type loading and wheel-ground interaction measurement are carried out on the terrain which is not driven in, mechanical parameters and geometric parameters are obtained, forward identification of non-geometric dangers such as soft soil collapse and rock burying is realized, and the detection accuracy is improved. Real and reliable data support is provided for trafficability evaluation and path planning, and the risk that the probe vehicle is trapped and the structure is damaged is remarkably reduced.

The application discloses a lunar surface point cloud obstacle semantic segmentation method, system, electronic equipment and program product, and belongs to the cross field of computer vision, deep learning and planetary exploration environment perception technology. The application introduces a boundary enhancement mechanism based on local geometric change in the point cloud feature coding stage, strengthens the feature expression of the obstacle boundary area points, and effectively alleviates the boundary information loss problem caused by random sampling. And by introducing a global context perception mechanism on the feature transmission path between the feature coding unit and the semantic decoding unit, the long-distance semantic dependence information is compensated, so that the segmentation result of the large-scale lunar surface scene is more coherent and stable. The application effectively solves the precision decline problem caused by boundary blur and global context loss in lunar surface point cloud segmentation, significantly improves the segmentation precision of obstacles such as impact craters and rocks, maintains the high efficiency of the algorithm, and is suitable for a star-borne computing platform.

The present invention provides a method for predicting the spatial distribution of the top interface of the water-rich layer beneath Mars, relating to the field of planetary exploration. The method comprises: obtaining remote sensing images and elevation data of a study area, dividing the study area into several restricted areas, and calculating the apparent top interface position of the water-rich layer at the location of the rampart crater within each restricted area; extracting a central elevation profile of each restricted area, projecting the apparent top interface position of the water-rich layer at the location of the rampart crater onto the profile, and smoothly connecting relatively shallow projection points as the predicted top interface of the water-rich layer for each profile; and combining the predicted top interface of the water-rich layer from the extended area of ​​the study area and all elevation profiles to perform three-dimensional interpolation to obtain a predicted spatial distribution of the top interface of the water-rich layer within the study area. The present invention has the beneficial effect of accurately determining the spatial location and changing trend of the top interface of the water-rich layer beneath Mars, providing a scientific basis for better estimating the water ice reserves on Mars and rationally developing water ice resources.

The present application relates to the field of planetary exploration and wireless charging, and discloses a kind of wireless charging method of planetary explorer based on intelligent reflecting surface, comprising: deploying wireless charging system for target planet;There are legal planetary explorers and possibly existing malicious planetary explorers on target planet;Space solar satellite uses IRS-based challenge-response physical layer authentication mechanism to authenticate the identity of the receiver;After confirming that the receiver is a legal planetary explorer, enter the energy transmission stage;First, solve the beamforming vector of space solar satellite and IRS phase shift matrix jointly through alternating optimization algorithm, and simultaneously determine the space solar satellite used for energy transmission from the currently visible space solar satellite with the goal of maximizing the received energy of the legal planetary explorer;Then, configure the transmission signal of each antenna of the space solar satellite and the IRS phase according to the beamforming vector and the IRS phase shift matrix;Finally, the selected space solar satellite starts energy transmission.

The invention discloses an aircraft for combined driving of Mars dust storm airflow and electric field force, and belongs to the technical field of planetary exploration aircrafts. The problem that an existing Mars aircraft cannot work in severe weather is solved. The radial crown hair structure is arranged at the upper end of the aircraft, so that a stable separation vortex ring is generated in airflow and serves as main aerodynamic lift force; through the first electrode arranged on the surface of the crown hair structure exposed to the external environment or integrated with the crown hair structure and the second electrode arranged on the aircraft main body, when the aircraft enters a Mars dust storm or dust entrainment wind environment, charged dust particles in the environment are in contact with the exposed first electrode, charge transfer occurs, and the dust particles in the environment are discharged. Therefore, the whole aircraft has net charges; the aircraft with net charges is subjected to the action of electrostatic force in an endogenous electric field of dust storm or dust entrainment wind, and the electrostatic force provides additional lift force or attitude control force for the aircraft to achieve composite driving. The dandelion-imitating aircraft is suitable for flying in special atmospheric environments such as Mars and the like.

This invention relates to the field of planetary exploration equipment testing technology, and particularly to an experimental platform for the physical characteristics of the coupling between a planetary rover's wheels and soil. It includes a test frame, a data acquisition and analysis module, an environment and operating condition simulation unit, a wheel drive unit, and a moving unit. The test frame is used to load simulated planetary soil or ground soil; the wheel drive unit is used to drive the test wheels to rotate and collect the mechanical parameters of the interaction between the test wheels and the soil; the moving unit is connected to the wheel drive unit and is used to realize the horizontal and passive vertical movement of the wheel drive unit; the environment and operating condition simulation unit is connected to the wheel drive unit or the moving unit and is used to simulate different planetary gravity environments or operating condition resistances; the data acquisition and analysis module is used to collect and analyze multi-dimensional physical parameters during the wheel-soil coupling process. This invention has a flexible and safe structure, can simulate multiple force environments and multiple operating conditions, and can achieve simultaneous testing and acquisition of multiple parameters.

The present application provides a method for predicting the dielectric constant of the shallow layer of Mars using an improved convolutional neural network, which relates to the fields of geological exploration and planetary exploration. The method includes: obtaining and preprocessing Mars subsurface detection radar data; extracting Mars subsurface detection radar A-scan data; constructing a one-dimensional convolutional neural network based on an attention mechanism and cascade; training the one-dimensional convolutional neural network using the constructed Mars subsurface geological model and Mars subsurface detection radar A-scan data; and predicting the dielectric constant value of the shallow subsurface layer of Mars using the trained one-dimensional convolutional neural network in combination with the preprocessed Mars subsurface detection radar data. The method proposed in the present application uses a data-driven improved one-dimensional deep convolutional neural network to replace the traditional manual judgment of hyperbola fitting in ground-penetrating radar signals, thereby realizing a method for autonomously predicting the dielectric properties of the shallow subsurface layer of Mars.

The present invention provides a method for inverting the gravity field and internal structure of an asteroid based on machine learning. When training a planetary deep neural gravity field network model based on machine learning, the internal density distribution of the asteroid is actually inferred based on external observation information. This process is also called gravity inversion. Using a planetary deep neural gravity field model based on deep learning for gravity inversion can perform various forms of prior density constraints through loss functions, thereby reducing the search space for gravity inversion optimization and improving the stability and accuracy of gravity inversion. The planetary deep neural gravity field model can integrate multi-source gravity observation data processing, and can simultaneously encode the asteroid's gravity field model, internal structure model, and three-dimensional shape model. The present invention will enhance the scientific value and practical significance of planetary exploration, and provide beneficial theoretical support and practical guidance for deep space exploration.

The wheel-soil model small sample phased Bayesian inversion method solves the problems of serious parameter coupling, poor distinguishability and difficult quantification of uncertainty in the wheel-soil model parameter inversion process under small sample conditions, and belongs to the field of planetary exploration robot ground mechanics parameter identification. The model distinguishability is improved through parameter reconstruction, and the inversion process is divided into multiple stages according to the slip working conditions: first, the pressure-related parameters are estimated using low-slip data, then the shear-related parameters are estimated using high-slip data, and the uncertainty is propagated across stages. Through the above mechanism, the influence of parameter coupling can be effectively reduced under small sample conditions, and the parameter estimation results with physical interpretability and containing confidence information can be achieved, thereby providing reliable support for the motion control and environment adaptation of the exploration vehicle.

The application provides a spider-like planetary robot, and belongs to the field of space planetary exploration. The planetary robot comprises a robot body and N supporting legs, wherein N is an integer greater than 4. The robot body comprises a robot box, a bottom support and a root driving assembly. The root driving assembly is distributed on the top corners and edges of the robot box. The bottom support is M symmetrically distributed on the bottom of the robot box, wherein M is an integer greater than 4. The N root driving assemblies are connected with the N supporting legs in one-to-one correspondence. All the supporting legs have the same structure. The planetary robot can realize multi-configuration change, can meet the requirements of different terrains of star table detection, and has stronger adaptability. The robot adopts a spider-like configuration for crawling and wheel movement, and can run more stably and reliably on a complex ground. The robot adopts a supporting leg modular design, is easy to assemble and debug, and can reduce production cost.

The application discloses a kind of deep learning three-dimensional sparse reconstruction method and system suitable for planetary exploration vehicle image, comprising: step one, import preprocessed planetary exploration vehicle image and other auxiliary data;Step two, the key point extraction and description of each image imported are carried out, obtain the key point set containing the two-dimensional image coordinates of key point on each image and corresponding descriptor;Step three, the key point is matched, and the same name point is extracted in the image with each other overlapping, and the same name point of error is eliminated while more correct same name point is matched;Step four, using the coordinates of key point and the corresponding relationship of same name point obtained by matching, the accurate object side three-dimensional point coordinates and the position and posture of camera are solved, and then the three-dimensional structure of terrain is recovered.The application combines deep neural network technology to carry out accurate and reliable same name point extraction for sparse three-dimensional reconstruction, which can significantly improve the stability of planetary surface three-dimensional reconstruction.

1. The name of the design product: amusement equipment (planetary exploration vehicle race track). 2. The use of the design product: amusement equipment for amusement park. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.

The disclosed embodiments describe an integrated aerial exploration system for deployment on a planetary surface, the system including: a rotorcraft (110) configured for flight in a low-density atmosphere and adapted to carry a scientific payload (119); an enclosure (150) housing the rotorcraft during launch, transit, and landing, the enclosure including a mounting interface (154) for attachment to a host vehicle and a cover (152) movable to provide an opening for deployment of the rotorcraft; and a deployment mechanism (160) configured, upon activation, to move the rotorcraft from within the enclosure to a position outside the enclosure through said opening; where activation of the deployment mechanism automatically releases the rotorcraft from the enclosure and deploys one or more stowed components of the rotorcraft into a flight-ready configuration for aerial operation.