CN112213132B

CN112213132B - Mars ground simulation field for testing walking ability of Mars patrol instrument

Info

Publication number: CN112213132B
Application number: CN202011012940.4A
Authority: CN
Inventors: 童小华; 许雄; 冯亚炫; 魏超; 谢欢; 许庆雨; 陈鹏; 刘世杰; 柳思聪; 冯永玖; 王超
Original assignee: Tongji University
Current assignee: Tongji University
Priority date: 2020-09-23
Filing date: 2020-09-23
Publication date: 2021-12-07
Anticipated expiration: 2040-09-23
Also published as: CN112213132A

Abstract

The invention relates to a Martian ground simulation field for the walking ability test of a Mars rover, comprising: a slope climbing ability test area, which mainly examines the ability of the rover to climb over different underlying surfaces and slopes with different slopes; a flat ground walking obstacle ability test area, It mainly tests the ability of the patrol device to walk and climb over obstacles on the underlying surface of different materials; the obstacle avoidance ability test area is mainly used to test the obstacle avoidance ability of the patrol device; the anti-subsidence ability test area is covered with fine sand and is used for Test the rover's subsidence and detachment ability in sandy areas. The entire simulation field can more realistically simulate various situations that the rover may encounter on Mars, which provides the possibility for the Mars rover to conduct various ground experiments in it. Compared with the prior art, the present invention can more realistically simulate various situations that the rover may encounter on Mars, and provides the possibility for the Mars rover to perform various ground experiments in it.

Description

Mars ground simulation field for testing walking ability of Mars patrol instrument

Technical Field

The invention relates to a deep space exploration technology, in particular to a mars ground simulation field for testing the walking capability of a mars rover.

Background

The Mars simulation field is a natural laboratory for carrying out Mars scientific basic research and carrying out Mars and earth comparison research. The mars have special characteristics in the aspects of landform, geology and material components, for example, the landform is desert without vegetation coverage, the geology has dried sediments of rivers and lakes, and the material components have a large amount of left-over substances of sulfate, perchlorate and the like after water flow is dried. In order to support the cruise detection and remote sensing operation research of the Mars cruise vehicle, the simulation research of the Mars ground surface environment needs to be carried out on the ground.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a mars ground simulation field for a mars patrol instrument walking capability test.

The purpose of the invention can be realized by the following technical scheme:

a mars ground simulation field for testing the walking capability of a mars rover comprises a climbing capability test area, a flat ground walking obstacle crossing capability test area, an obstacle avoidance capability test area and an anti-sinking capability test area, wherein the climbing capability test area, the flat ground walking obstacle crossing capability test area, the obstacle avoidance capability test area and the anti-sinking capability test area have basic landform characteristics of the surface of a mars.

Preferably, the climbing capability test area comprises a plurality of slope areas with different underlying surfaces and different slopes.

Preferably, the slope of a plurality of slope areas is gradually increased from 5 degrees to 30 degrees, the underlying surface of the slope areas is based on weathered granite and volcanic ash, and sandstone is laid intermittently.

Preferably, the flat ground walking obstacle crossing capability test area comprises a plurality of flat ground areas made of different underlying surface materials.

Preferably, the underlying surface of one of the flat areas is 1: 1: 1.

Preferably, the underlying surface of one of the flat areas is 1: 1: 1, paving sandstone intermittently on the basis of the mixed soil, and scattering and distributing fine basalt with the height of 5cm-30cm in the whole area.

Preferably, the obstacle avoidance capability test area comprises an irregular area with a lower cushion surface formed by mixing weathered granite, volcanic ash and volcanic slag.

Preferably, the obstacle avoidance capability test area is distributed with coarse-grained basalt with the height of 50-60cm in an area, and small-grained basalt is intermingled.

Preferably, the anti-subsidence capacity test area comprises a slope body covered with fine sand inside.

Preferably, the slope of the slope body of the anti-subsidence capacity test area is 30 degrees.

Compared with the prior art, the simulation field is established by simulating the ground surface environment of the mars, various conditions encountered when the mars patrol instrument performs walking detection activities on the mars are simulated really, various performances of the mars patrol instrument are tested, and support is provided for the mars patrol instrument to perform various ground tests.

Drawings

Fig. 1 is a schematic structural diagram of a mars ground simulation field in the embodiment.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

Examples

As shown in fig. 1, the application provides a mars ground simulation field for testing the walking ability of a mars rover, which includes a climbing ability test area with basic mars surface features, a flat walking obstacle crossing ability test area, an obstacle avoidance ability test area and an anti-sinking ability test area according to known mars landforms and conditions that the mars rover may encounter during mars ground detection, wherein the areas of the areas, which are caused by different functions, of each area are different, and the areas are respectively used for testing the corresponding performance of the mars rover, so that support is provided for the mars rover to carry out various ground experiments.

(1) The climbing capability test area (area 1) is mainly used for inspecting the capability of the patrol inspection device for crossing different underlying surfaces and slopes with different gradients, and a plurality of slope areas with different underlying surfaces and different gradients are established in the area. The gradient of the slope areas is gradually increased from 5 degrees to 30 degrees, the bedding surface of the slope areas is based on weathered granite and volcanic ash, and sandstone is intermittently paved, so that the capability of the planet vehicle to cross slopes with different bedding surfaces and different gradients is tested.

In this embodiment, the climbing capability test area includes 12 slope areas with a width of 5 meters and a bottom length of 9 meters, the gradient of the slope area is gradually increased from 5 degrees to 30 degrees, the underlying surface of the slope area is based on weathered granite and volcanic ash, and sandstone is intermittently laid to test the climbing capability of the celestial body on soil and rocky land. The specific design is shown in table 1.

TABLE 1 climbing capability test area

(2) The flat ground walking obstacle crossing capability test area is mainly used for inspecting the cruising walking capability of a patrol device in a relatively flat area and is mainly divided into two areas according to the difference of underlying surfaces, wherein the underlying surface in the area 2 is a mixture (1: 1: 1) of weathered granite, volcanic ash and volcanic slag, fine-grained basalt with the height of 5cm-30cm is scattered and distributed in the area 2, and the underlying surface in the area 3 is intermittently paved on the basis of keeping the mixture (1: 1: 1) of the weathered granite, the volcanic ash and the volcanic slag so as to test the walking capability of a planet car on the underlying surfaces made of different materials and the obstacle crossing capability. The specific design is shown in table 2. TABLE 2 obstacle crossing test area for flat ground walking ability

(3) The obstacle avoidance capability test area is an irregular area with the size of 44 square meters, the underlying surface of the obstacle avoidance capability test area is a mixture of weathered granite, volcanic ash and volcanic slag to simulate a mars environment, coarse-grained basalt with the height of 50-60cm is scattered in the area, and small-sized fine-grained basalt is intermingled in the area to test the walking obstacle avoidance capability of the planet vehicle. The specific design is shown in table 3.

TABLE 3 obstacle avoidance capability test zone

(4) The anti-subsidence capacity test area is a slope body (5 area) which is set up in the area and has the size of 5 x 10 meters, the slope degree of 30 degrees and the interior covered with fine sand, and the design basis is that the opportunity Mars train of NASA is once sunk into a soft area, so the subsidence condition and the subsidence capacity of the patrol instrument in the sandy area need to be tested.

Claims

1. a Mars ground simulation field facing the walking ability test of the Mars rover, is characterized in that, comprises the climbing ability test area, the obstacle-avoidance ability test area, the obstacle avoidance ability test area and the resistance test area with the basic landform characteristic of the Martian surface. Subsidence ability test area;

The test area for the obstacle-surmounting ability of walking on flat ground includes a plurality of flat areas with different underlying surface materials;

The underlying surface of one of the flat areas is a 1:1:1 mixture of weathered granite, volcanic ash, and volcanic slag;

The underlying surface of one of the flat areas is based on a 1:1:1 mixed soil of weathered granite, volcanic ash, and volcanic slag, and then intermittently lays sandstone, and the size of the scattered distribution in the entire area is 5cm- 30cm high fine-grained basalt.

2. A kind of Mars ground simulation field facing Mars rover walking ability test according to claim 1, is characterized in that, described slope climbing ability test area comprises a plurality of different underlying surfaces and slope areas with different gradients.

3. a kind of Mars ground simulation field facing the walking ability test of Mars rover according to claim 2, is characterized in that, the gradient of a plurality of described slope areas is gradually increased from 5 degrees to 30 degrees, and its underlying surface is 30 degrees. Weathered granite and volcanic ash as benchmarks, with intermittent laying of sandstone.

4. a kind of Mars ground simulation field facing Mars rover walking ability test according to claim 1, is characterized in that, described obstacle avoidance ability test area comprises that the underlying surface is weathered granite, volcanic ash, volcanic slag three kinds of materials Mixed irregular areas.

5. a kind of Mars ground simulation field facing the walking ability test of Mars rover according to claim 4, is characterized in that, described obstacle avoidance ability test area is the coarse-grained basalt that 50-60cm is high in area spread size, Interspersed with small-sized fine-grained basalt.

6 . The Mars ground simulation field for a Mars rover walking ability test according to claim 1 , wherein the anti-subsidence ability test area comprises a slope body covered with fine sand. 7 .

7 . The Mars ground simulation field according to claim 6 , wherein the slope of the slope in the anti-subsidence ability test area is 30 degrees.