CN102589910A - Lunar soil and lunar appearance simulation system for ground walking test of lunar surface rover and construction method of lunar soil and lunar appearance simulation system - Google Patents
Lunar soil and lunar appearance simulation system for ground walking test of lunar surface rover and construction method of lunar soil and lunar appearance simulation system Download PDFInfo
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Abstract
Description
技术领域 technical field
本发明属于月面巡视器地面试验领域，具体涉及一种用于月面巡视器地面行走试验的月壤月貌模拟系统及其构造方法。The invention belongs to the field of ground tests of a lunar surface patrol device, and in particular relates to a lunar soil and lunar appearance simulation system and a construction method thereof for the ground walking test of a lunar surface patrol device.
背景技术 Background technique
随着我国探月工程的开展，月面巡视器的研制成为了整个探月计划的关键。巡视器本身是一个复杂的系统，为保证它在月面的正常行驶，必须在地面对其行走能力，如移动性能、路径规划及自主导航等功能加以综合验证，以考察巡视器的工作可靠性。为了充分考核巡视器的行走性能，需要搭建相应的月壤月貌模拟系统以实现对月表/月海/月陆等区域的月壤环境的模拟。With the development of my country's lunar exploration project, the development of the lunar surface patrol device has become the key to the entire lunar exploration program. The rover itself is a complex system. In order to ensure its normal driving on the lunar surface, it is necessary to comprehensively verify its walking ability on the ground, such as mobility, path planning and autonomous navigation, so as to examine the reliability of the rover. sex. In order to fully assess the walking performance of the rover, it is necessary to build a corresponding lunar soil and lunar surface simulation system to realize the simulation of the lunar soil environment in areas such as the lunar surface/lunar sea/lunar land.
迄今为止，国外已建成多个试验场，如前苏联为Lunokhod的研制建设了环形土壤通道模拟试验场(长70m、宽4m)和综合形貌模拟试验场(长50m，宽50m)，实现对环形坑、沟壑和岩石等模拟。美国为Apollo的LRV地面试验建立了一个空间环境模拟室(SESL)和高大的人造舱，模拟月球庇护所和月球太空舱外环境。此外，国外还根据不同的试验目的研制了多种模拟月壤，如JSC-1，MLS，LSS等系列。So far, many test sites have been built abroad. For example, the former Soviet Union built a circular soil channel simulation test site (70m long, 4m wide) and a comprehensive morphology simulation test site (50m long, 50m wide) for the development of Lunokhod. Simulation of craters, ravines, rocks, etc. The United States has established a space environment simulation chamber (SESL) and a tall artificial cabin for Apollo's LRV ground test to simulate the environment outside the lunar shelter and lunar space cabin. In addition, foreign countries have developed a variety of simulated lunar soils according to different test purposes, such as JSC-1, MLS, LSS and other series.
在模拟月壤的研制方面，国内多家机构开展了大量的研究，研制出了多种模拟月壤，用于开展科学研究、土槽试验以及试验场的研究。其中在巡视器原理样机研制阶段建立了一个月面巡视探测器室内试验场(试验区占地约525m2)，利用模拟月壤根据已知的月面形貌数据进行构造。In terms of the development of simulated lunar soil, many domestic institutions have carried out a lot of research and developed a variety of simulated lunar soils for scientific research, soil tank tests and research on test sites. Among them, in the development stage of the principle prototype of the rover, an indoor test site for the lunar surface patrol detector (the test area covers an area of about 525m 2 ) was established, and the simulated lunar soil was used to construct the structure based on the known lunar surface topography data.
但是，现有的月壤月貌模拟方法及系统存在以下问题：However, the existing methods and systems for simulating lunar soil and moonform have the following problems:
模拟月壤的性能；目前模拟月壤的种类繁多，一般均是根据试验目的特殊研制的，不能完全满足月面巡视器地面行走试验中对模拟月壤各项性能指标的要求；Simulate the performance of lunar soil; currently there are many types of simulated lunar soil, which are generally specially developed according to the purpose of the test, and cannot fully meet the requirements of various performance indicators of simulated lunar soil in the ground walking test of the lunar surface patrol device;
模拟月壤制备方法：目前多数模拟月壤的配比方法和制备工艺不适合大规模制备，如某些模拟月壤需要添加剂，在使用量较大时，成本高，且很难保证模拟月壤的均匀性。Preparation method of simulated lunar soil: At present, most of the mixing methods and preparation processes of simulated lunar soil are not suitable for large-scale preparation. For example, some simulated lunar soil requires additives. When the amount of use is large, the cost is high, and it is difficult to ensure that the simulated lunar soil uniformity.
模拟月壤整备方法：目前模拟月壤相关的整备方法主要是针对土槽试验等小规模试验需求提出的，当模拟月壤的区域较大时，现有整备方法不能满足模拟月壤大规模的快速铺设整备要求，且无法保证整备后模拟月壤性能一致性的要求。Preparation method of simulated lunar soil: The current preparation methods related to simulated lunar soil are mainly proposed for small-scale experiments such as soil tank tests. When the area of simulated lunar soil is large, the existing preparation methods cannot meet the large-scale simulation of lunar soil. Rapid laying equipment requirements, and can not guarantee the consistency of simulated lunar soil performance requirements after equipment.
基于上述原因，需要综合考虑月面巡视器地面行走试验中多种试验类型及工况对月壤月貌的要求，研制一种适用于巡视器地面行走试验的月壤月貌模拟系统非常必要。Based on the above reasons, it is necessary to comprehensively consider the requirements of various test types and working conditions on the lunar soil and lunar appearance in the ground walking test of the lunar rover, and it is very necessary to develop a lunar soil and lunar appearance simulation system suitable for the rover's ground walking test.
发明内容 Contents of the invention
本发明的目的在于提供一种用于月面巡视器地面行走试验的月壤月貌模拟系统及其构造方法，该系统实现了对月球表面的月壤环境以及相应地形地貌的模拟，满足了巡视器地面行走试验中多种试验类型及工况对模拟月壤性能和地形地貌的综合需求。The object of the present invention is to provide a lunar soil and moon appearance simulation system and its construction method for the ground walking test of the lunar surface patrol device. The comprehensive requirements of various test types and working conditions for simulating lunar soil performance and topography in the ground walking test of the spacecraft.
本发明目的的实现采用了如下的技术方案：The realization of the object of the present invention has adopted following technical scheme:
用于月面巡视器地面行走试验的月壤月貌模拟系统，包括模拟月壤水平区、模拟月壤坡道区、模拟月坑，模拟月岩以及综合模拟月面区，这些区域均采用模拟真实月壤力学性能的模拟月壤来构建，其中，模拟月壤水平区内包含至少两种以上的模拟月壤，以用于研究巡视器在不同性能指标的模拟月壤上的行走能力；模拟月壤坡道区内包含至少两种角度以上的坡度，以用于研究巡视器在不同坡度上的行走能力；模拟月坑和月岩根据试验需要和场地规划，在模拟月壤水平区和坡道区随机分布，以用于验证巡视器的越坑和越障能力，综合模拟月面区主要由模拟月壤构成，包含斜面、模拟月坑以及模拟月岩的多种月面典型形貌，且随机分布，可用于验证巡视器移动性能、自主导航和路径规划等能力。The lunar soil and lunar surface simulation system used for the ground walking test of the lunar surface rover, including the simulated lunar soil horizontal area, the simulated lunar soil slope area, the simulated lunar crater, the simulated lunar rock, and the comprehensive simulated lunar surface area, all of which are simulated The simulated lunar soil of the real lunar soil mechanical properties is constructed, wherein the simulated lunar soil horizontal area contains at least two or more simulated lunar soils, which are used to study the walking ability of the rover on the simulated lunar soil with different performance indicators; The lunar soil slope area contains at least two kinds of slopes, which are used to study the walking ability of the rover on different slopes; the simulated lunar craters and lunar rocks are simulated in the horizontal area and slope of the simulated lunar soil according to the needs of the experiment and site planning. The track area is randomly distributed to verify the ability of the rover to overcome pits and obstacles. The comprehensive simulated lunar surface area is mainly composed of simulated lunar soil, including slopes, simulated lunar craters, and simulated lunar rocks. And it is randomly distributed, which can be used to verify the mobile performance, autonomous navigation and path planning capabilities of the patroller.
其中，模拟月壤是同质材料火山灰制成的。Among them, the simulated lunar soil is made of homogeneous material volcanic ash.
其中，模拟月壤是不同粒径大小的火山灰材料混合制成的，且根据真实月壤粒径的统计范围(附图1)确定各种月貌下的火山灰材料的粒径配比曲线。Among them, the simulated lunar soil is made of a mixture of volcanic ash materials with different particle sizes, and the particle size ratio curves of volcanic ash materials under various lunar appearances are determined according to the statistical range of real lunar soil particle sizes (attached to Figure 1).
其中，各区域内的模拟月壤的平均厚度不小于30cm。Among them, the average thickness of the simulated lunar soil in each area is not less than 30cm.
一种用于月面巡视器地面行走试验的月壤月貌模拟系统的构造方法，包括以下步骤：A method for constructing a lunar soil and lunar appearance simulation system for a lunar surface rover ground walking test, comprising the following steps:
1)模拟月禳的制备1) Preparation of simulated moon cakes
采用同质材料火山灰，进行烘干、机械粉碎，筛分，并根据不同月面模拟区域对模拟月壤的需求按不同比例来混配不同粒径的火山灰颗粒，其中粒径级配是主要的控制参数以符合月壤的真实性能；Homogeneous material volcanic ash is used for drying, mechanical crushing and screening, and according to the demand for simulated lunar soil in different lunar surface simulation areas, volcanic ash particles of different particle sizes are mixed in different proportions, among which particle size gradation is the main one. Control parameters to match the real performance of the lunar soil;
2)月壤月貌模拟系统的构建2) The construction of lunar soil and lunar appearance simulation system
按照巡视器着陆区附近的月面形貌的整体布局要求，分别构建模拟月壤水平区、模拟月壤坡道区、模拟月坑，模拟月岩以及综合模拟月面区，这些区域均采用模拟真实月壤力学性能的模拟月壤来构建，构建步骤包括初始铺装、逐层压实、基本形貌整备、表层整备、模拟月面整备和表面修饰，从而形成月壤月貌模拟系统。According to the overall layout requirements of the lunar surface near the landing area of the rover, the simulated lunar soil horizontal area, the simulated lunar soil ramp area, the simulated lunar crater, the simulated lunar rock, and the comprehensive simulated lunar surface area are respectively constructed. The mechanical properties of real lunar soil are constructed by simulating lunar soil. The construction steps include initial pavement, layer-by-layer compaction, basic shape preparation, surface preparation, simulated lunar surface preparation and surface modification, thus forming a lunar soil lunar appearance simulation system.
其中，模拟月壤水平区内包含至少两种以上的模拟月壤，以用于研究巡视器在不同性能指标的模拟月壤上的行走能力；模拟月壤坡道区内包含至少两种角度以上的坡度，以用于研究巡视器在不同坡度上的行走能力；模拟月坑和月岩根据试验需要和场地规划，在模拟月壤水平区和坡道区随机分布，以用于验证巡视器的越坑和越障能力，综合模拟月面区主要由模拟月壤构成，包含斜面、模拟月坑以及模拟月岩的多种月面典型形貌，且随机分布。Among them, the simulated lunar soil horizontal area contains at least two kinds of simulated lunar soil, which are used to study the walking ability of the rover on simulated lunar soil with different performance indicators; the simulated lunar soil slope area contains at least two kinds of angles The slope is used to study the walking ability of the rover on different slopes; the simulated lunar craters and moon rocks are randomly distributed in the simulated lunar soil level area and ramp area according to the test needs and site planning, so as to verify the rover's performance. Crater and obstacle surmounting capabilities, the comprehensive simulated lunar surface area is mainly composed of simulated lunar soil, including slopes, simulated lunar craters and simulated lunar rocks, which are randomly distributed.
优选地，不同粒径的火山灰的配比方式为粒径1mm以下的质量百分比为83.74～100％；粒径0.25mm以下的质量百分比为59.42～86.1％；粒径0.1mm以下的质量百分比为39.38～70.97％；粒径0.075mm以下的质量百分比为32.89～64.3％；粒径0.01mm以下的质量百分比为0～15.83％(图1所示)。Preferably, the proportioning method of volcanic ash with different particle sizes is 83.74-100% by mass for the particle size below 1mm; 59.42-86.1% for the particle size below 0.25mm; 39.38% for the particle size below 0.1mm. ～70.97%; the mass percentage of particle diameter below 0.075mm is 32.89～64.3%; the mass percentage of particle diameter below 0.01mm is 0～15.83% (shown in Figure 1).
本发明的月壤月貌综合模拟系统，针对巡视器的需求，采用了不同粒径大小配比的多种同质火山灰材料的模拟月壤，基本上覆盖了目前我们所了解到的真实月壤粒径统计范围，同时通过逐层压实的方法完成场地面积约800m2的月壤月貌综合模拟系统建设，实现月面力学环境的模拟，并兼顾了空间几何形貌和光学环境的特征。The lunar soil and lunar appearance comprehensive simulation system of the present invention, in response to the needs of the patrol, uses a variety of homogeneous volcanic ash materials with different particle sizes and ratios to simulate lunar soil, which basically covers the real lunar soil we know so far. At the same time, the construction of a comprehensive simulation system for lunar soil and lunar appearance with a site area of about 800m 2 was completed by layer-by-layer compaction, realizing the simulation of the mechanical environment of the lunar surface, and taking into account the characteristics of the spatial geometry and optical environment.
附图说明 Description of drawings
图1为真实月壤粒径统计分布曲线，本发明中各种模拟月壤的粒径级配曲线需落在该图中两条线之间。Fig. 1 is the statistical distribution curve of real lunar soil particle size, and the particle size gradation curves of various simulated lunar soils in the present invention need to fall between the two lines in the figure.
图2为本发明一实施方式的用于月面巡视器地面行走试验的月壤月貌模拟系统的区域结构示意图。Fig. 2 is a schematic diagram of the regional structure of the lunar soil and lunar surface simulation system used for the ground walking test of the lunar surface rover according to an embodiment of the present invention.
具体实施方式 Detailed ways
下面结合附图2对本发明的用于月面巡视器地面行走试验的月壤月貌模拟系统作进一步的说明。Below in conjunction with accompanying drawing 2, the lunar soil and lunar appearance simulation system used for the ground walking test of the lunar surface patrol device of the present invention will be further described.
如图2所示，本发明一实施方式的用于月面巡视器地面行走试验的月壤月貌模拟系统，具体来说，整个系统由东侧半径15m的半圆形区域和西侧15m×30m的矩形区域组成，系统中模拟月壤的平均厚度为0.5m。东侧半圆形区域中由北向南依次分布由模拟月壤2构建的8m宽，6.5m长的8°坡，7m宽，6.5m长的15°坡和5m宽，5m长的20°坡3个模拟月壤坡道区；西侧由北向南7m宽的区域为模拟月壤2水平区；南侧由西向东依次分布3m宽，7m长的模拟1水平区，3m宽，7m长的模拟月壤3水平区和3m宽，6m长的模拟月壤4水平区；中心20m×20m为模拟月壤2构建的综合模拟月面区；模拟月坑和模拟月岩随机分布在水平区，坡道区和综合模拟月面区，其中，模拟月壤水平区用于研究巡视器在不同性能指标的模拟月壤上的行走能力；模拟月壤坡道区内用于研究巡视器在不同坡度上的行走能力；模拟月坑和月岩用于验证巡视器的越坑和越障能力，综合模拟月面区主要由模拟月壤构成，包含斜面、模拟月坑以及模拟月岩的多种月面典型形貌，且随机分布。As shown in Figure 2, the lunar soil and lunar appearance simulation system used for the ground walking test of the lunar surface patrol device according to an embodiment of the present invention, specifically, the whole system consists of a semicircular area with a radius of 15m on the east side and a 15m× It consists of a rectangular area of 30m, and the average thickness of the simulated lunar soil in the system is 0.5m. In the semicircular area on the east side, from north to south, there are 8m wide, 6.5m long 8° slopes, 7m wide, 6.5m long 15° slopes and 5m wide, 5m long 20° slopes constructed by simulated lunar soil 2. 3 simulated lunar soil ramp areas; the area 7m wide from north to south on the west side is the simulated lunar soil 2 level area; the south side is distributed in turn from west to east to simulate the 1 level area with a width of 3m and a length of 7m, and a horizontal area with a width of 3m and a length of 7m The simulated lunar soil 3 horizontal area and the simulated lunar soil 4 horizontal area with a width of 3m and a length of 6m; the center 20m×20m is a comprehensive simulated lunar surface area constructed by simulated lunar soil 2; simulated lunar craters and simulated lunar rocks are randomly distributed in the horizontal area, The ramp area and the comprehensive simulated lunar surface area, among which, the simulated lunar soil horizontal area is used to study the walking ability of the rover on simulated lunar soil with different performance indicators; The simulated lunar craters and lunar rocks are used to verify the ability of the rover to overcome craters and obstacles. The comprehensive simulated lunar surface area is mainly composed of simulated lunar soil, including slopes, simulated lunar craters, and simulated lunar rocks. Surface typical shape, and random distribution.
用于构建本发明实施方式之一的月面巡视器地面行走试验的月壤月貌模拟系统的构造方法，主要包括以下步骤：The construction method of the lunar soil and lunar appearance simulation system for constructing the lunar surface patrol device ground walking test of one of the embodiments of the present invention mainly includes the following steps:
1)模拟月壤的制备1) Preparation of simulated lunar soil
采用同质材料火山灰，进行烘干、机械粉碎，筛分，并根据不同月面模拟区域对模拟月壤的要求按不同比例来混配不同粒径的火山灰颗粒，其中粒径级配是主要的控制参数以符合月壤的真实性能；Homogeneous material volcanic ash is used for drying, mechanical crushing, and screening, and according to the requirements of different lunar surface simulation areas for simulated lunar soil, volcanic ash particles of different particle sizes are mixed in different proportions, among which particle size gradation is the main one. Control parameters to match the real performance of lunar soil;
2)月壤月貌模拟系统的构建2) The construction of lunar soil and lunar appearance simulation system
按照巡视器着陆区附近的月面形貌的整体布局要求，分别构建模拟月壤水平区、模拟月壤坡道区、模拟月坑，模拟月岩以及综合模拟月面区，这些区域均采用模拟真实月壤力学性能的模拟月壤来构建，构建步骤包括初始铺装、逐层压实、基本形貌整备、表层整备、模拟月面整备和表面修饰，从而形成月壤月貌模拟系统。According to the overall layout requirements of the lunar surface near the landing area of the rover, the simulated lunar soil horizontal area, the simulated lunar soil ramp area, the simulated lunar crater, the simulated lunar rock, and the comprehensive simulated lunar surface area are respectively constructed. The mechanical properties of real lunar soil are constructed by simulating lunar soil. The construction steps include initial pavement, layer-by-layer compaction, basic shape preparation, surface preparation, simulated lunar surface preparation and surface modification, thus forming a lunar soil lunar appearance simulation system.
以图2所示的月壤月貌模拟系统为例，该系统中采用了4种模拟月壤，其中模拟月壤1，模拟月壤2，模拟月壤3和模拟月壤4用于构建模拟月壤水平区和模拟月坑；模拟月壤2同时用于构建模拟月壤坡道区和综合模拟月面区；并采用模拟月壤2同质的火山灰材料构建模拟月岩。Taking the lunar soil and lunar appearance simulation system shown in Figure 2 as an example, four kinds of simulated lunar soils are used in this system, among which simulated
模拟月壤的制备：以模拟月壤2为例，按照1mm以下100％，0.25mm以下93.6％，0.1mm以下62.4％，0.075mm以下56.1％，0.01mm以下10％的粒径级配设计方案，对同质材料火山灰(火山灰)按照烘干、机械粉碎和筛分，混合和检测从而完成模拟月壤2的制备，制备后的模拟月壤2随机抽样的均匀性结果与设计值误差小于9％。Preparation of simulated lunar soil: Take simulated lunar soil 2 as an example, according to the particle size distribution design scheme of 100% below 1mm, 93.6% below 0.25mm, 62.4% below 0.1mm, 56.1% below 0.075mm, and 10% below 0.01mm For homogeneous material volcanic ash (volcanic ash) according to drying, mechanical crushing and screening, mixing and testing to complete the preparation of simulated lunar soil 2, the uniformity result of the prepared simulated lunar soil 2 random sampling error is less than 9% of the design value %.
系统的构建：以图2所示系统为例，根据设计方案，按照预期位置将模拟月壤1～4号分别按照初始铺装、逐层压实(三层铺装压实)、基本形貌整备(基本几何尺寸的确定)、表层整备(翻松、刮平)、模拟月面整备(月坑构造和月岩埋放)和表面修饰依次完成各模拟月壤区域的构建，构建好的月壤月貌模拟系统随机抽样的容重相对误差小于10％。System construction: Taking the system shown in Figure 2 as an example, according to the design plan, the simulated lunar soil No. 1 to No. 4 will be constructed according to the initial pavement, layer-by-layer compaction (three-layer pavement compaction), and basic shape according to the expected position. Preparation (determination of basic geometric dimensions), surface preparation (loosening, scraping), simulated lunar surface preparation (crater structure and lunar rock burial) and surface modification complete the construction of each simulated lunar soil area in sequence. The relative error of the bulk density of random sampling in the soil and lunar surface simulation system is less than 10%.
尽管上文对本发明的具体实施方式给予了详细描述和说明，但是应该指明的是，我们可以依据本发明的构想对上述实施方式进行各种等效改变和修改，其所产生的功能作用仍未超出说明书及附图所涵盖的精神时，均应在本发明的保护范围之内。Although the specific embodiments of the present invention have been described and illustrated in detail above, it should be pointed out that we can make various equivalent changes and modifications to the above-mentioned embodiments according to the concept of the present invention, and the functional effects produced by it are still the same. Anything beyond the spirit contained in the specification and drawings shall fall within the protection scope of the present invention.
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