阅读说明：本技术 火星探测器在轨全貌展示方法 (Mars detector on-orbit hologrAN _ SNhy display method ) 是由 杜洋 于淼 牛俊坡 徐亮 王伟 陈晓 褚英志 郑永艾 王海鹏 于 2021-08-24 设计创作，主要内容包括：本发明提供了一种火星探测器在轨全貌展示方法,采用分离式全貌展示相机方式获取火星探测器在轨全貌；全貌展示相机在逐渐远离的过程中,持续对火星探测器进行拍照并回传图像数据；全貌展示相机采用最简配设计,具备图像采集、内部供电、无线通信等最低配功能,分离解锁、分离前的外部供电及温控由火星探测器平台实施,从而降低资源需求；全貌展示任务实施策略包含状态自检与确认、正式任务实施两阶段,各阶段设有故障入口及处理措施。本发明通过分离式全貌展示方法及实施策略,可有效获取火星探测器在轨全貌影像,可广泛用于分离式监测任务,极具工程参考意义、可实施性极强。(The invention provides an on-orbit holomorphic display method for a Mars detector, which adopts a separated holomorphic display camera mode to obtain the on-orbit holomorphic of the Mars detector; the full-view display camera continuously takes pictures of the Mars detector and returns image data in the process of gradually departing; the full-view display camera adopts the simplest configuration design, has the minimum configuration functions of image acquisition, internal power supply, wireless communication and the like, and is implemented by a Mars detector platform before separation unlocking and separation external power supply and temperature control, so that the resource requirement is reduced; the overall display task implementation strategy comprises two stages of state self-checking and confirmation and formal task implementation, and each stage is provided with a fault entrance and a processing measure. The invention can effectively obtain the Mars detector on-orbit holographic image through the separated holographic display method and the implementation strategy, can be widely used for separated monitoring tasks, and has great engineering reference significance and strong practicability.)

1. An on-orbit holomorphic display method for a Mars detector is characterized by comprising the following steps:

step S1: the ground sends a self-checking instruction of the panoramic display camera in an ascending way, and the Mars detector responds to the corresponding instruction to perform the self-checking of the panoramic camera;

step S2: judging telemetering information and image information related to the self-checking action of the full-view display camera on the ground, confirming whether the self-checking process state is normal or not, and if the self-checking process state is judged to be normal, entering the step S3; if the judgment result is abnormal, judging whether to restart the full-view display camera and perform self-checking again, if the judgment result is yes, turning to the step S1, and if the judgment result is no, turning to an abnormal branch;

step S3: raising the temperature control threshold of the full-view display camera, and raising the temperature of the full-view display camera to a temperature range designed before separation;

step S4: adjusting the posture of the Mars probe according to the designed requirements of the overall display imaging scene;

step S5: powering up the full-view display camera to set an imaging state;

step S6: whether the setting condition of the full-face display camera is normal or not is confirmed according to state remote measurement; if the judgment result is normal, the step S7 is executed; if the judgment result is abnormal, judging whether the full-view display camera is restarted or not and the imaging state is set again, if the judgment result is yes, turning to the step S5, and if the judgment result is not, turning to an abnormal branch;

step S7: the full-view display camera is internally powered;

step S8: whether the execution condition of the camera turning internal power supply for the full-face display is normal is confirmed according to state remote measurement; if the judgment result is normal, the step S9 is executed; if the judgment result is abnormal, judging whether the inner power switching setting of the full-face display camera is implemented or not, if so, switching to a step S7, and if not, switching to an abnormal branch;

step S9: the full-face display camera is separated from the platform;

step S10: whether the separation condition of the full-face display camera and the platform is normal or not is confirmed according to state remote measurement; if the judgment result is normal, the step is switched to step S11; if the judgment result is abnormal, judging whether to emergently reissue a full-face display camera separation instruction, if so, turning to the step S9, and if not, turning to an abnormal branch;

step S11: transmitting the images shot by the full-view display camera back to the ground in a video-on-demand mode;

step S12: and processing the full-view display image data by the ground to generate a full-view display image map.

2. The Mars probe on-orbit holographic display method according to claim 1, wherein the holographic display camera is a detachable holographic display camera.

3. The mars detector on-orbit omnifacial display method of claim 1, wherein the omnifacial display camera and the engineering display sign are both installed outside the mars detector, and when the omnifacial display camera is separated, the engineering display sign is located in the field of view of the omnifacial display camera.

4. The Mars detector on-orbit hologra phic display method according to claim 3, wherein the hologra phic display camera is operated at a low temperature before being separated from the Mars detector, and the Mars detector is separated after the hologra phic display camera is heated.

5. The Mars probe on-orbit omnifacial display method of claim 1, wherein the omnifacial display camera comprises an image acquisition module for image acquisition, a power module for internal power supply and a communication module for wireless communication.

6. The Mars detector on-orbit holographic display method according to claim 1, wherein after the holographic display camera and the Mars detection are separated, the image information is transmitted back to the Mars detector in a wireless communication mode.

7. The Mars probe in-orbit omnifacial display method according to claim 1, wherein the relative separation speed between the omnifacial display camera and the Mars probe is 0.1m/s to 0.3 m/s.

8. The Mars probe on-orbit holographic display method according to claim 1, wherein the separation unlocking of the holographic display camera, the external power supply before the separation and the temperature control are implemented by the Mars probe.

9. The Mars probe in-orbit holistic presentation method according to claim 1, wherein when it is determined that the reissue separation is to be performed urgently, the single remedial treatment time is shorter than the time of the electric power expected to be consumed in the holistic presentation camera, and the electric power required for the holistic presentation camera to perform the nominal photographing is set aside.

10. The Mars probe on-orbit all-round display method according to claim 1, wherein the abnormal state processing is performed only once in the steps S2, S6, S8 and S10.

Technical Field

The invention relates to the technical field of deep space detector engineering monitoring, in particular to an on-orbit full-view display method for a Mars detector.

Background

Deep space exploration refers to exploration activities performed on celestial bodies far from the earth and the moon by using artificial spacecrafts. Compared with a near-earth space exploration task, the deep space exploration task has the characteristics of relatively high technical difficulty, long task period, complex flight process and the like, and each deep space exploration task has great significance in multiple aspects such as science, technology, economy and the like. How to monitor and display engineering tasks and improve the public awareness of participation is an important work in the design and implementation of deep space exploration tasks. For space missions, the demand for equipment resources is low, meaning that the mission cost is low. How to adopt light and small equipment and reliable operation to realize better engineering monitoring effect is a difficult problem faced in the design of visual monitoring and display tasks of deep space exploration engineering.

With the technical development of optical monitoring cameras, miniaturized and light optical monitoring cameras gradually begin to be widely applied in the field of deep space exploration. In a plurality of foreign Mars detection tasks, an optical imaging technology is adopted to obtain the engineering state of the Mars detector, and celestial body shooting and scientific detection are implemented. For engineering demonstration of a mars detector body, key parts such as a solar wing, a large-caliber antenna, an engine and the like are generally used as objects. If the Mars detector can be displayed in orbit, the engineering demonstration degree of the task can be greatly improved.

The patent document CN101520590B discloses a camera and a self-shooting method thereof, which increases a mobile detection module to detect whether a moving object breaks into a scene to be shot, so as to improve the self-shooting success rate. The invention is mainly used for improving the self-timer success rate.

The invention patent of patent document CN103124327B discloses a method and device for self-timer camera shooting, which adopts a first input and a second input confirmation mode to realize self-timer camera shooting. The problem of solve is to promote the convenience that the user used the camera, reduces the influence of auto heterodyne user operation to the auto heterodyne success rate of shooing.

The patent document CN105890577B discloses a method suitable for on-orbit multi-celestial-body group photo imaging of a deep space probe. And (3) coupling other parameters such as a celestial body and detector orbit dynamics model with a view field model established based on the performance parameters of the camera, determining a specific multi-celestial body imaging strategy, and obtaining an imaging effect simulation diagram. The method solves the problem of designing a multi-celestial-body group photo task by a deep space detector on orbit.

The invention patent of patent document CN111355899A discloses a space panoramic imaging system and an imaging method. According to the characteristics of space panoramic imaging, a controller is adopted to control a plurality of cameras to synchronously expose; and simultaneously, a main camera is determined according to the attitude of the satellite, the maximum exposure time limit of the main camera is controlled according to the speed and the height of the satellite and the focal length information of the main camera, the exposure time of other cameras is controlled by utilizing the exposure time of the main camera, so that all the cameras are synchronously exposed, the synchronous shooting work is realized, the panoramic image of the celestial body target is finally reconstructed, and the problems that the panoramic image is difficult to splice into the panoramic image and the image is fuzzy in the prior art are solved.

But the above scheme cannot realize higher work display.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an on-orbit holistic display method for a Mars detector.

The Mars detector on-orbit hologra display method provided by the invention comprises the following steps:

step S1: the ground sends a self-checking instruction of the panoramic display camera in an ascending way, and the Mars detector responds to the corresponding instruction to perform the self-checking of the panoramic camera;

step S2: judging telemetering information and image information related to the self-checking action of the full-view display camera on the ground, confirming whether the self-checking process state is normal or not, and if the self-checking process state is judged to be normal, entering the step S3; if the judgment result is abnormal, judging whether to restart the full-view display camera and perform self-checking again, if the judgment result is yes, turning to the step S1, and if the judgment result is no, turning to an abnormal branch;

step S3: raising the temperature control threshold of the full-view display camera, and raising the temperature of the full-view display camera to a temperature range designed before separation;

step S4: adjusting the posture of the Mars probe according to the designed requirements of the overall display imaging scene;

step S5: powering up the full-view display camera to set an imaging state;

step S6: whether the setting condition of the full-face display camera is normal or not is confirmed according to state remote measurement; if the judgment result is normal, the step S7 is executed; if the judgment result is abnormal, judging whether the full-view display camera is restarted or not and the imaging state is set again, if the judgment result is yes, turning to the step S5, and if the judgment result is not, turning to an abnormal branch;

step S7: the full-view display camera is internally powered;

step S8: whether the execution condition of the camera turning internal power supply for the full-face display is normal is confirmed according to state remote measurement; if the judgment result is normal, the step S9 is executed; if the judgment result is abnormal, judging whether the inner power switching setting of the full-face display camera is implemented or not, if so, switching to a step S7, and if not, switching to an abnormal branch;

step S9: the full-face display camera is separated from the platform;

step S10: whether the separation condition of the full-face display camera and the platform is normal or not is confirmed according to state remote measurement; if the judgment result is normal, the step is switched to step S11; if the judgment result is abnormal, judging whether to emergently reissue a full-face display camera separation instruction, if so, turning to the step S9, and if not, turning to an abnormal branch;

step S11: transmitting the images shot by the full-view display camera back to the ground in a video-on-demand mode;

step S12: and processing the full-view display image data by the ground to generate a full-view display image map.

Preferably, the panorama display camera adopts a separable panorama display camera.

Preferably, the full-view display camera and the engineering display mark are both arranged outside the Mars detector, and when the full-view display camera is separated, the engineering display mark is positioned in the view field of the full-view display camera.

Preferably, the low-temperature control operation is performed before the full-view display camera and the Mars detector are separated, and the Mars detector is separated after the full-view display camera is heated.

Preferably, the overview presentation camera comprises an image acquisition module for image acquisition, a power supply module for internal power supply, and a communication module for wireless communication.

Preferably, the panorama display camera and the mars detector are separated, and then the image information is transmitted back to the mars detector in a wireless communication mode.

Preferably, the relative separation speed between the overview presentation camera and the Mars detector is 0.1m/s to 0.3 m/s.

Preferably, the separation unlocking of the full-view display camera, the external power supply before the separation and the temperature control are implemented by a Mars detector.

Preferably, when the execution of the reissue separation is determined to be carried out urgently, the single remedial treatment time is shorter than the time of the electricity expected to be consumed in the full-view display camera, and the electricity required by the full-view display camera to carry out the nominal photographing is reserved.

Preferably, the abnormal state processing is performed only once in step S2, step S6, step S8, and step S10.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention provides a method for acquiring an on-orbit hologrAN _ SNhic image of a Mars detector by adopting a separate hologrAN _ SNhic display camera; after the full-view display camera is separated from the Mars detector platform, continuously photographing the Mars detector body and returning image data in the process of gradually moving away, so that continuous photographing of the Mars detector in an orbit flight state full view within a period of time is obtained;

2. the full-face display camera adopts the simplest configuration design, has the minimum configuration functions of image acquisition, internal power supply, wireless communication and the like, and is unlocked in a separating way, external power supply and temperature control before separation are implemented by a Mars detector platform, so that the resource requirement of the full-face display camera is reduced.

3. The invention designs a set of overall display task implementation flow, which comprises two stages of state self-checking and confirmation and formal task implementation, and designs fault entrance and processing strategies of each stage, so that the on-orbit overall image of the Mars detector can be effectively obtained.

4. The invention adopts the light and small separated type full-face display camera to carry out full-face imaging on the detector body after being separated from the detector, and designs the full-face display task implementation flow. The method can obtain the on-orbit full-view image of the Mars detector, thereby realizing higher engineering task display.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic view of the present invention showing the mounting of a camera on a Mars finder platform;

FIG. 2 is a schematic diagram of the application of the holographic display camera of the present invention separated from the Mars probe platform;

FIG. 3 is a flowchart illustrating a task implementation strategy in a comprehensive manner according to the present invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

As shown in fig. 1, according to the on-orbit holographic display method and the implementation strategy for the Mars probe provided by the invention, the holographic display method comprises the following steps: a light small-sized separated type full-face display camera is adopted, and after the full-face display camera is separated from the Mars detector, full-face imaging is carried out on the Mars detector in the process of moving away; the full-view display camera adopts a simplest configuration design and has the minimum configuration functions of image acquisition, internal power supply, wireless communication and the like; the separation unlocking of the full-view display camera, the external power supply before the separation and the temperature control are implemented by a Mars detector. A set of overall display task implementation flow comprises two stages of state self-checking and formal task implementation, and fault entries and processing strategies in all stages are designed.

The implementation process of the overall display task comprises the following steps: firstly, carrying out self-checking on a full-face camera by a ground uplink self-checking instruction; secondly, the ground judges the telemetering information and the image information of the self-checking of the full-face display camera and confirms whether the self-checking process state is normal or not; if the overall appearance display camera is abnormal, whether the overall appearance display camera is restarted or not and whether the overall appearance display camera is self-checked again is determined; (III) heightening the temperature control threshold of the full-view display camera; (IV) adjusting the posture of the Mars probe according to the requirements of the imaging scene; powering up the full-view display camera to set an imaging state; sixthly, the setting condition of the full-view display camera is confirmed through state telemetering; if the overall display camera is abnormal, whether the overall display camera is restarted or not and whether the imaging state is set again or not are decided; (VII) the whole display camera is internally powered; (eighth), the execution condition of the camera to internal power supply is displayed in a full view manner according to state telemetering confirmation; if the camera is abnormal, whether the camera is subjected to the internal power conversion setting of the full-face display is selected; (ninth), the full-face display camera is separated from the platform; (ten) according to state telemetry, confirming the separation condition of the overall display camera and the platform; if the situation is abnormal, whether the camera internal power conversion setting is displayed in an emergency reissue manner or not is selected; (eleventh), the images shot by the full-view display camera are broadcast on demand and transmitted back to the ground; and (twelfth) processing the full-view display image data on the ground to generate a full-view display image map.

Furthermore, a low-temperature control strategy is adopted before the full-view display camera is separated from the platform, so that the average power consumption of temperature control required by the camera is reduced. After the full-face display camera is separated from the Mars detection, the image information is transmitted back to the Mars detector in a wireless communication mode. The relative separation speed between the full-view display camera and the Mars detector is 0.1m/s to 0.3m/s, so that the shooting time of the full-view display camera to the Mars detector is ensured to be as long as possible. In the judgment link in the overall display task implementation process, when the judgment is abnormal, a decision needs to be made whether to implement the action of the previous step again, and if the decision is not to implement, an abnormal branch is switched to. After the abnormality is judged in the overall display task implementation process, the abnormal state remediation processing is performed only once in principle. In the implementation process of the overall display task, the judgment link of the separation condition of the overall display camera and the platform needs to be completed as soon as possible so as to ensure the time margin for implementing emergency remedial measures; when the emergency reissue separation implementation is determined, the single remediation treatment time is ensured to be shorter than the time of the electricity expected to be consumed in the full-face display camera, and the electric quantity required by the full-face display camera to implement the nominal photographing is reserved.

More specifically, the invention relates to an on-orbit holomorphic presentation method and an implementation strategy for a Mars detector, which can obtain an on-orbit flight holomorphic image of the Mars detector through a separated holomorphic presentation camera and provide a holomorphic presentation task implementation strategy with engineering reference significance. As shown in fig. 1 and 2, the on-orbit holistic display method and implementation strategy for a Mars probe includes: mars detector 1, general appearance show camera 2, engineering show sign 3. The full-face display camera 2 and the engineering display sign 3 are both installed outside the Mars detector 1, and the arrangement of the full-face display camera 2 and the engineering display sign 3 ensures that the engineering display sign 3 is located in the visual field of the full-face display camera 2 after the full-face display camera 2 is separated. As shown in fig. 2, after the full-view display camera 2 is separated from the Mars probe 1, the Mars probe 1 is continuously photographed and image data is transmitted back in the process of gradually moving away.

The invention comprises the following steps:

the method comprises the following steps: the ground sends a self-checking instruction of the panoramic display camera in an ascending way, and the Mars detector responds to the corresponding instruction to perform the self-checking of the panoramic camera;

step two: judging telemetering information and image information related to the self-checking action of the full-face display camera on the ground, and determining whether the self-checking process state is normal or not; if the operation is normal, turning to the third step; if the overall appearance display camera is abnormal, whether the overall appearance display camera is restarted or not and whether the overall appearance display camera is self-checked again need to be decided, if the overall appearance display camera is decided to be implemented, the step I is carried out, and if the overall appearance display camera is not decided to be implemented, the step I is carried out, otherwise, an abnormal branch is carried out; in principle, exception state handling is performed only once;

step three: raising the temperature control threshold of the full-view display camera, and raising the temperature of the full-view display camera to a temperature range designed before separation;

step four: adjusting the posture of the Mars detector according to the designed requirements of the overall display imaging scene to ensure that the shooting area is positioned in the illumination area;

step five: powering up the full-view display camera to set an imaging state;

step six: the setting condition of the overall display camera is determined according to state remote measurement; if normal, go to step seven; if the overall appearance display camera is abnormal, whether the overall appearance display camera is restarted or not and whether the imaging state is set again need to be decided, if the overall appearance display camera is decided to be implemented, the step five is carried out, and if the overall appearance display camera is not decided to be implemented, the step five is carried out, otherwise, an abnormal branch is carried out; in principle, exception state handling is performed only once;

step seven: the full-view display camera is internally powered;

step eight: according to state remote measurement, confirming the execution condition of switching the camera to internal power supply for the overall display; if the operation is normal, turning to the ninth step; if the camera is abnormal, whether the camera internal electricity conversion setting is shown by complementing the overall picture or not is decided, if the camera internal electricity conversion setting is decided to be implemented, the step seven is carried out, and if the camera internal electricity conversion setting is not decided to be implemented, the step seven is carried out, otherwise, an abnormal branch is carried out; in principle, exception state handling is performed only once;

step nine: the full-face display camera is separated from the detector platform;

step ten: according to the state remote measurement, confirming the separation condition of the overall display camera and the detector platform; if so, turning to the eleventh step; if the camera separation instruction is abnormal, whether the camera separation instruction is displayed in an emergency reissue mode is selected, if the camera separation instruction is displayed in an emergency reissue mode, the step nine is carried out, and if the camera separation instruction is not displayed in an emergency reissue mode, the step nine is carried out, otherwise, an abnormal branch is carried out; in principle, exception state handling is performed only once;

step eleven: transmitting the images shot by the full-view display camera back to the ground in a video-on-demand mode;

step twelve: and processing the full-view display image data by the ground to generate a full-view display image map.

In summary, the light-small separable type full-view display camera is adopted to image the detector body after being separated from the detector, so that the acquisition of the full-view image of the Mars detector in orbit flight is realized; the light small-sized separable full-face display camera adopts the simplest configuration design to reduce the resource requirement; designing a set of overall display task implementation flow, including two stages of state self-checking and confirmation and formal task implementation, and providing fault entry and processing strategy of each stage; the full-view display method and the implementation strategy can be widely applied to the separated monitoring task, and have great engineering reference significance and strong implementability.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.