A method and system for simulating thermal environment characteristics of the Martian surface

Abstract

The present invention provides a method and system for simulating the thermal environment characteristics of the surface of Mars, the system comprising: a simulated terrain, a refrigeration module, a heating module, and a fireproof and heat-insulating module; the refrigeration module is installed below the simulated terrain to control the temperature at the bottom of the simulated terrain, simulating the boundary condition of the simulated terrain on the surface of Mars maintaining a constant low temperature after reaching a certain depth; the heating module is installed above the simulated terrain to control the surface temperature of the simulated terrain, simulating the heating process of the surface of the simulated terrain on Mars under solar radiation; the fireproof and heat-insulating modules are installed around the simulated terrain to prevent fire and prevent the loss of internal heat or cold.

Description

Technical Field

[0001] The present invention belongs to the technical field of Mars rover navigation planning, and in particular relates to a Mars surface thermal characteristic environment simulation system used for ground experiments of a Mars rover onboard navigation planning system. Background Art

[0002] A large area on the surface of Mars is a "danger zone" composed of loose granular materials. When the rover is driving in the above-mentioned danger zone, the wheels will slip and sink, causing the rover to get stuck in the sand and be unable to respond to the control commands from the ground. Therefore, when designing and studying the navigation planning system of the rover, measures must be taken to prevent the rover from entering the danger zone.

[0003] The navigation planning system of the existing Mars rover mainly relies on the navigation camera and obstacle avoidance camera to perceive the surrounding environment, but the navigation camera and obstacle avoidance camera can only perceive the appearance of the terrain, and cannot accurately distinguish the looseness of the simulated terrain, sand, etc. Therefore, when the Mars rover is about to enter the above-mentioned area, the existing navigation planning system cannot determine whether it is passable.

[0004] Existing studies have shown that the looseness of the terrain is closely related to its thermal inertia. For the same type of terrain, the thermal inertia of compact terrain is much greater than that of loose terrain. Therefore, the Mars rover can measure the thermal inertia of the terrain through the measurement equipment carried by it. The navigation planning system determines the passability based on the measured thermal inertia and plans the movement path of the Mars rover to avoid entering the dangerous area.

[0005] After integrating the thermal inertia navigation planning method into the Mars rover's navigation planning system, the accuracy and feasibility of this method for Mars rover navigation in sandy areas must be verified through experiments. Due to the difference in thermal characteristics between the Earth's surface and the Mars surface, a simulated terrain must be built on the ground based on the thermal characteristics of the Mars surface for the Mars rover's perception navigation experiment based on temperature recognition.

[0006] A literature search of the prior art revealed that there are no relevant patent technologies or literature reports on simulating the thermal characteristics of the Martian surface on the ground. Summary of the invention

[0007] The technical problem solved by the present invention is: In view of the shortcomings of the existing technology, the present invention proposes a method and system for simulating the thermal environment characteristics of the surface of Mars, so as to construct a thermal characteristic terrain that is more realistic than that of Mars on the ground, which is used for navigation experiments of Mars rovers.

[0008] The technical solution adopted by the present invention is: a system for simulating the thermal environment characteristics of the surface of Mars, including: a simulated terrain, a refrigeration module, a heating module, and a fireproof and heat-insulating module;

[0009] The refrigeration module is installed below the simulated terrain to control the temperature at the bottom of the simulated terrain and simulate the boundary conditions of the Martian surface to maintain a constant low temperature after the simulated terrain reaches a certain depth;

[0010] The heating module is installed above the simulated terrain to control the surface temperature of the simulated terrain and simulate the heating process of the simulated terrain surface on Mars under solar radiation;

[0011] Fireproof and heat-insulating modules are installed around the simulated terrain to prevent fire and prevent the loss of internal heat or cold.

[0012] The refrigeration module includes a liquid-cooled heat exchanger placed directly below the simulated terrain, a polyurethane insulation board placed below the liquid-cooled heat exchanger, a water receiving pan placed below the polyurethane insulation board, and a refrigeration unit installed outside the fireproof and heat-insulating module;

[0013] The temperature of the low-temperature refrigerant produced by the refrigeration unit is set through the control cabinet. When the temperature of the low-temperature refrigerant drops to the set temperature, the inlet pipeline valve installed on the inlet pipeline and the outlet pipeline valve installed on the outlet pipeline are opened, and the low-temperature refrigerant is pumped into the liquid-cooled heat exchanger through the inlet pipeline of the liquid-cooled heat exchanger to exchange heat with the simulated terrain; the heat exchange process causes the temperature of the simulated terrain to decrease and the temperature of the low-temperature refrigerant to increase; after the temperature of the low-temperature refrigerant is increased, it flows back to the refrigeration unit through the outlet pipeline of the liquid-cooled heat exchanger and is cooled to the set temperature again.

[0014] The low-temperature coolant is propylene glycol, and the temperature of the low-temperature coolant is set according to the target control temperature at the bottom of the simulated terrain.

[0015] The heating module includes a column installed above the simulated terrain, a foldable bracket, a heating lamp and a control cabinet; the foldable bracket is installed on the column, can move along the column in the vertical direction, and can be stored and unfolded in the horizontal direction; the heating lamp is fixed on the foldable bracket, and the control cabinet emits electricity on the heating lamp, and the heating lamp exchanges heat with the simulated terrain below through thermal radiation and thermal convection, so that the temperature of the surface of the simulated terrain increases; the control cabinet adjusts the power supply voltage of the heating lamp or adjusts the height of the foldable bracket from the surface of the simulated terrain to adjust the radiation intensity received by the surface of the simulated terrain, so as to simulate the changes in sunlight in different places on the surface of Mars during the day in different seasons.

[0016] The heating lamp uses a double-tube gold-plated halogen quartz heating lamp, and the heating lamp circuit uses a fire-retardant and high-temperature resistant silicone rubber braided power cord. The heating lamp is fixed on a foldable bracket in an arrangement mode when the irradiation uniformity is optimal on the simulated terrain surface.

[0017] The fireproof and heat-insulating module comprises a thermal insulation curtain bracket fixed around the simulated terrain and a thermal insulation curtain installed on the thermal insulation curtain bracket; the control cabinet controls the storage and unfolding of the thermal insulation curtain by powering on the motor.

[0018] The thermal insulation curtain bracket comprises a frame, a motor placed on the frame, a bearing placed on the frame and connected to an output shaft of the motor, and a reel placed on the frame and connected to the bearing.

[0019] The frame is a cubic frame surrounded by four columns and eight beams, and the columns and beams are aluminum alloy profiles with square cross-sections; the motor is connected to the reel through a bearing, and drives the reel to rotate forward or reverse when power is on, and the reel stops rotating when power is off; the thermal insulation curtain is fixed to the four side surfaces and top surface of the thermal insulation curtain bracket through the reel, bearings, and motor.

[0020] A method for simulation using the above-mentioned Mars surface thermal environment characteristics simulation system comprises:

[0021] Carry out simulation preparations and unfold the insulation curtains on the five sides of the fireproof and heat-insulating module insulation curtain bracket to reduce heat or cold loss and play a role in fire prevention;

[0022] After the preparation work is completed, the refrigeration unit is turned on and the temperature of the low-temperature coolant is set. The refrigeration unit continuously lowers the temperature of the warm coolant during operation. When the low-temperature coolant reaches the set temperature, the inlet pipeline valve and the outlet pipeline valve are opened, and the low-temperature coolant enters the liquid-cooled heat exchanger through the inlet pipeline of the liquid-cooled heat exchanger, and transfers the cold it carries to the simulated terrain above through heat conduction, so that the temperature of the simulated terrain is reduced; during this process, the temperature of the low-temperature coolant rises, and the heated low-temperature coolant flows back to the refrigeration unit through the outlet pipeline of the liquid-cooled heat exchanger, and is cooled to the set temperature again, completing the simulation of the first cooling process and entering the next cycle;

[0023] After the simulation of the first cooling process is completed, the output power of the heating lamp is set through the control cabinet, and the heating lamp is powered on; during the operation, the heating lamp transfers heat to the simulated terrain under the foldable bracket by means of thermal radiation and thermal convection, so that the surface temperature of the simulated terrain increases; thus completing the simulation of the second heating process;

[0024] After the simulation of the second heating process is completed, the heating module and the cooling module are turned off to simulate the natural cooling of the terrain surface to the ambient temperature.

[0025] The duration of the heating process is controlled by adjusting the working time of the heating lamp; the heating amplitude and heating speed of the heating process are controlled by adjusting the output power of the heating lamp and the height of the heating lamp from the simulated terrain surface.

[0026] The advantages of the present invention compared with the prior art are:

[0027] (1) The present invention uses the technical means of bottom convection cooling and top radiant heating in a closed space to simulate the temperature characteristics of the natural environment indoors;

[0028] (2) The present invention can realize the control of the heating and cooling process through temperature control, and realize the simulation of the heating and cooling characteristics of the target environment;

[0029] (3) The present invention simulates the different topography and landforms on the surface of Mars by setting soil layers with different mechanical property parameters, and setting slopes, pits, trenches and rocks, etc., to achieve simulation and characteristic research of the thermal characteristics of different topography and landforms. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Schematic diagram of the Martian surface thermal characteristics environment simulation system of the present invention. DETAILED DESCRIPTION

[0031] like Figure 1 As shown, the present invention provides a Martian surface thermal characteristic environment simulation system, which is used to simulate the thermal characteristic environment of the Martian surface simulated terrain on the ground; the Martian surface thermal characteristic environment simulation system includes the simulated terrain 1, a refrigeration module placed at the bottom of the simulated terrain, a heating module installed above the simulated terrain, and a fireproof and heat-insulating module installed around the simulated terrain; the simulated terrain has an area of ​​3m×3m and a height of 0.24m;

[0032] The refrigeration module comprises a liquid-cooled heat exchanger 2 placed directly below the simulated terrain, a polyurethane insulation board 3 placed below the liquid-cooled heat exchanger, a water receiving tray placed below the polyurethane insulation board, and a refrigeration unit 8 installed outside the fireproof and heat-insulating module; the liquid-cooled heat exchanger 2 comprises a heat exchanger body of 3m×3m×0.017m, an inlet pipeline, an outlet pipeline, and an inlet and outlet pipeline connector welded to the heat exchanger body; the polyurethane insulation board 3 has a size of 3m×3m×0. 1m, made of polyurethane; the water tray includes a water tray body, an electrode-type liquid level gauge installed at the bottom of the water tray, and two valves installed on the side of the water tray; the length of the water tray body is 3150mm, the width is 3010mm, and the height is 40mm. The material is 304 stainless steel with a wall thickness of 2mm; the electrode-type liquid level gauge includes a water level measurement container, an electrode, an electrode core, a water level display lamp and a power supply. The electrode-type liquid level gauge has two contacts. When the contacts are submerged in liquid, When the electrode core and the container shell are short-circuited, the water level indicator lights up, indicating that liquid has leaked from the liquid-cooled heat exchanger into the water receiving pan; the valves are installed on both sides of the water receiving pan, and are used to connect external pipelines to flush the water receiving pan and discharge the liquid in the water receiving pan respectively; the refrigeration unit 8 is used to generate a temperature-adjustable low-temperature coolant. The refrigeration unit 8 is connected to the liquid-cooled heat exchanger 2 through the inlet and outlet pipelines of the liquid-cooled heat exchanger. The refrigeration unit pumps the manufactured low-temperature coolant into the liquid-cooled heat exchanger. The low-temperature coolant exchanges heat with the simulated terrain above through the liquid-cooled heat exchanger. The heat exchange process reduces the temperature of the simulated terrain and increases the temperature of the low-temperature coolant. The low-temperature coolant with increased temperature flows back into the refrigeration unit through the outlet of the liquid-cooled heat exchanger and is cooled to a preset low-temperature coolant outlet temperature; the preset outlet temperature of the low-temperature coolant is adjusted by the control system of the refrigeration system;

[0033] The heating module includes a lamp array bracket installed above the simulated terrain and a heating lamp array installed on the lamp array bracket; the lamp array bracket includes a column 9 placed on the ground next to the simulated terrain and a foldable bracket 10 connected to the column by expansion screws; the column includes an iron plate, a roller installed under the iron plate, and an aluminum alloy profile vertically installed above the iron plate, and the column can be moved on the ground by the roller; the foldable bracket is installed on the pillar and includes four foldable cantilevers, and the foldable bracket can be moved up and down on the pillar and the foldable cantilever can be opened and closed by electric control; the heating lamp array includes a heating lamp 11 placed on the foldable cantilever, a heating lamp circuit fixed on the foldable cantilever, A control cabinet for powering and controlling the heating lamp; the heating lamp comprises 16 lamp tubes of the double-tube gold-plated halogen quartz heating lamp model, and the 16 lamp tubes are installed on the foldable cantilever in an arrangement when the irradiation uniformity on the simulated terrain surface is optimal; the heating lamp circuit adopts a fire-retardant and high-temperature resistant silicone rubber braided power cord, which is installed in the wire groove on the foldable cantilever to ensure the safety of the retraction and extension of the lamp array bracket and the power supply safety during the process of turning on the heating lamp array; the control cabinet can realize the control of the heating amount of the simulated terrain surface by the heating system by controlling the height of the heating lamp array from the simulated terrain surface and the power supply voltage of the heating lamp, thereby controlling the heating rate of the simulated terrain surface to simulate different heating cycles.

[0034] The fireproof heat insulation module includes a thermal insulation curtain bracket 12 placed above the simulated terrain and a thermal insulation curtain 13 installed on the thermal insulation curtain bracket; the thermal insulation curtain bracket 12 includes a frame, a motor placed on the frame, a bearing placed on the frame and connected to the motor output shaft, and a reel placed on the frame and connected to the bearing; the frame includes 4 columns and 8 beams, and the columns and beams are aluminum alloy profiles with square cross-sections; the motor is connected to the reel through the bearing, drives the reel to rotate forward or reverse when powered on, and stops rotating when powered off; the reel is made of a stainless steel round tube with an outer diameter of 40 mm; the thermal insulation curtain 13 is installed on the four side surfaces and the top surface of the thermal insulation curtain bracket through the reel, bearings, and motor, and the unfolding and rolling up process of the thermal insulation curtain is achieved by the motor controlling the forward and reverse rotation of the reel.

[0035] The control system includes a control module of the refrigeration system, a control system of the heating system, and a control system of the fireproof and heat-insulating system; the control system of the refrigeration system has functions including powering the refrigeration unit, powering the electrode liquid level gauge, and adjusting the preset outlet temperature of the low-temperature coolant; the control system of the heating system has functions including powering the heating lamp and adjusting the output power of the heating lamp array; the control system of the fireproof and heat-insulating system has functions including powering the motor and controlling the forward and reverse rotation of the motor.

[0036] The structure is described in detail below in conjunction with the accompanying drawings: This embodiment is implemented on the premise of the present technical solution, and a detailed implementation method and specific operation process are given, but the scope of protection is not limited to the following embodiments.

[0037] like Figure 1 As shown, the present invention includes: simulated terrain 1, a liquid-cooled heat exchanger 2, a polyurethane insulation board 3, a liquid-cooled heat exchanger inlet pipeline 4, a liquid-cooled heat exchanger outlet pipeline 5, an inlet pipeline valve 6, an outlet pipeline valve 7, a refrigeration unit 8, a column 9, a foldable bracket 10, a heating lamp 11, a thermal insulation curtain bracket 12, and a thermal insulation curtain 13.

[0038] The refrigeration module at the bottom of the simulated terrain 1 includes a liquid-cooled heat exchanger 2, a polyurethane insulation board 3 and a refrigeration unit 8 installed below the simulated terrain. The refrigeration module is used to control the temperature at the bottom of the simulated terrain, simulating the boundary conditions of the simulated terrain on the surface of Mars to maintain a constant low temperature after reaching a certain depth. The refrigeration unit 8 works to produce a low-temperature refrigerant and pumps it into the liquid-cooled heat exchanger 2 through the inlet pipe 4 of the liquid-cooled heat exchanger. The low-temperature refrigerant enters the liquid-cooled heat exchanger 4 and exchanges heat with the simulated terrain 1 above through heat conduction. The heat exchange process causes the temperature of the simulated terrain 1 to decrease and the temperature of the low-temperature refrigerant to increase. After the refrigerant is heated up, it flows back to the refrigeration unit 8 through the outlet pipe 5 of the liquid-cooled heat exchanger and is cooled again. The temperature of the refrigerant produced by the refrigeration unit 8 is set by the control cabinet. When the temperature of the refrigerant is reduced to the set temperature, the inlet pipe valve 6 and the outlet pipe valve 7 are opened, and the low-temperature refrigerant enters the liquid-cooled heat exchanger 2 to exchange heat with the simulated terrain 1. Propylene glycol is selected as the refrigerant, and the refrigerant temperature is set according to the target control temperature at the bottom of the simulated terrain.

[0039] The heating module above the simulated terrain 1 includes a column 9 installed above the simulated terrain, a foldable bracket 10 and a heating lamp 11. The heating module is used to control the surface temperature of the simulated terrain and simulate the heating process of the surface of the simulated terrain on Mars under solar radiation. The foldable bracket 10 is fixed to the column 9 by expansion screws, and can move along the column in the vertical direction and be stored and unfolded in the horizontal direction. The heating lamp 11 is fixed to the foldable bracket 10, and the control cabinet emits electricity to the heating lamp 11. The heating lamp 11 exchanges heat with the simulated terrain 1 below through thermal radiation and thermal convection, so that the temperature of the surface of the simulated terrain 1 increases. By adjusting the power supply voltage of the heating lamp 11 or adjusting the height of the foldable bracket from the simulated terrain surface 1 through the control cabinet, the intensity of the radiation received by the surface of the simulated terrain 1 can be adjusted to simulate the changes in sunlight in different places on the surface of Mars during the day in different seasons. The heating lamps use 16 double-tube gold-plated halogen quartz heating lamps, and the heating lamp circuit uses a fire-retardant and high-temperature resistant silicone rubber braided power cord. The heating lamps are fixed on a foldable bracket in an arrangement mode when the irradiation uniformity is optimal on the surface of the simulated terrain 1.

[0040] The fireproof and heat-insulating module around the simulated terrain 1 includes a heat-insulating curtain bracket 12 fixed around the simulated terrain and a heat-insulating curtain 13 installed on the heat-insulating curtain bracket 12; the fireproof and heat-insulating module is used to prevent fire and prevent the loss of internal heat or cold. The heat-insulating curtain 13 is fixed to the four sides and the top surface of the heat-insulating curtain bracket 12 through a reel, a bearing, and a motor. The control cabinet controls the forward or reverse rotation of the reel by powering on the motor, thereby controlling the storage and unfolding of the heat-insulating curtain 13. The heat-insulating curtain bracket 12 includes 4 columns and 8 beams, and the columns and beams are aluminum alloy profiles with square cross-sections.

[0041] When applied, the simulated terrain 1 is initially at ambient temperature, and the Martian surface thermal characteristics environment simulation system simulates the surface cooling, heating, and cooling processes in sequence according to the thermal characteristics and temperature change curve of the Martian surface.

[0042] First, the simulation preparation work is carried out, and the insulation curtains 13 on the five sides of the fireproof and heat-insulating module insulation curtain bracket 12 are unfolded to reduce the heat or cold loss and play a fire prevention role at the same time.

[0043] After the preparation work is completed, the Mars surface thermal characteristics environment simulation system first simulates the cooling process of the surface. Turn on the refrigeration unit 8 and set the refrigerant temperature, that is, the opening conditions of the inlet pipeline valve 6 and the outlet pipeline valve 7. The refrigeration unit 8 continuously reduces the temperature of propylene glycol during operation. When the propylene glycol drops to the set temperature, the inlet pipeline valve 6 and the outlet pipeline valve 7 are opened, and the propylene glycol enters the liquid cooling heat exchanger through the inlet pipeline 4 of the liquid cooling heat exchanger, and transfers the cold energy it carries to the simulated terrain 1 located above through heat conduction, so that the temperature of the simulated terrain 1 is reduced. In this process, the temperature of propylene glycol rises, and the heated propylene glycol flows back to the refrigeration unit 8 through the outlet pipeline 5 of the liquid cooling heat exchanger, is cooled to the set temperature again, and enters the next cycle. This process is used to simulate the first cooling process of the temperature change curve of the surface of the Mars simulated terrain and the constant low temperature conditions at a certain simulated terrain depth. By adjusting the working time of the refrigeration unit 8 by the control cabinet, the duration of the cooling process can be controlled; by adjusting the set temperature of propylene glycol, the cooling rate of the cooling process and the constant low temperature value at the bottom can be controlled.

[0044] After the simulation of the first cooling process is completed, the Martian surface thermal characteristics environment simulation system simulates the surface heating process. The output power of the heating lamp 11 is set through the control cabinet, and the heating lamp 11 is powered on. During operation, the heating lamp 11 transfers heat to the simulated terrain 1 located under the foldable bracket 10 by means of thermal radiation and thermal convection, so that the surface temperature of the simulated terrain 1 increases. This process is used to simulate the second heating process of the surface temperature change curve of the simulated terrain of Mars. By adjusting the working time of the heating lamp 11, the duration of the heating process can be controlled; by adjusting the output power of the heating lamp 11 and the height of the heating lamp 11 from the surface of the simulated terrain, the heating amplitude and heating speed of the heating process can be controlled.

[0045] After the simulation of the second heating process is completed, the Mars surface thermal characteristics environment simulation system simulates the third cooling process of the surface. During this process, the heating module and the cooling module are turned off to simulate the natural cooling of the terrain surface. The duration of this process is controlled by controlling the duration of the first cooling process and the second heating process.

[0046] In this embodiment, the operation of all refrigeration units, heating lamps and motors is controlled by the control cabinet.

Claims

1. A system for simulating thermal environment characteristics on the surface of Mars, characterized in that: include: Simulated terrain (1), cooling module, heating module, fireproof and heat insulation module; The refrigeration module is installed below the simulated terrain (1) to control the temperature at the bottom of the simulated terrain and to simulate the boundary condition of maintaining a constant low temperature after the simulated terrain on the surface of Mars reaches a certain depth; The heating module is installed above the simulated terrain (1) and is used to control the surface temperature of the simulated terrain (1) to simulate the heating process of the surface of the simulated terrain on Mars under solar radiation; The fireproof and heat-insulating modules are installed around the simulated terrain (1) to prevent fire and prevent the loss of internal heat or cold; The refrigeration module comprises a liquid-cooled heat exchanger (2) placed directly below the simulated terrain (1), a polyurethane insulation board (3) placed below the liquid-cooled heat exchanger (2), a water receiving tray placed below the polyurethane insulation board (3), and a refrigeration unit (8) installed outside the fireproof and heat-insulating module; The temperature of the low-temperature coolant produced by the refrigeration unit (8) is set through the control cabinet. When the temperature of the low-temperature coolant drops to the set temperature, the inlet pipe valve (6) installed on the inlet pipe (4) and the outlet pipe valve (7) installed on the outlet pipe (5) are both opened, and the low-temperature coolant is pumped into the liquid-cooled heat exchanger (2) through the inlet pipe (4) of the liquid-cooled heat exchanger (2) to exchange heat with the simulated terrain (1); the heat exchange process causes the temperature of the simulated terrain (1) to drop and the temperature of the low-temperature coolant to rise; after the temperature of the low-temperature coolant rises, it flows back to the refrigeration unit (8) through the outlet pipe (5) of the liquid-cooled heat exchanger (2) and is cooled to the set temperature again; The heating module comprises a column (9) installed above the simulated terrain, a foldable bracket (10), and a heating lamp (11); the foldable bracket (10) is installed on the column (9) and can move along the column (9) in the vertical direction and be stored and unfolded in the horizontal direction; the heating lamp (11) is fixed on the foldable bracket (10), and the control cabinet emits light to the heating lamp (11), and the heating lamp (11) exchanges heat with the simulated terrain (1) below through heat radiation and heat convection, so that the temperature of the surface of the simulated terrain (1) increases; the control cabinet adjusts the power supply voltage of the heating lamp (11) or adjusts the height of the foldable bracket (10) from the surface of the simulated terrain (1) to adjust the radiation intensity received by the surface of the simulated terrain (1), so as to simulate the changes in sunlight in different places on the surface of Mars in different seasons during the day; The heating lamp (11) is a double-tube gold-plated halogen quartz heating lamp, and the heating lamp circuit is a fire-retardant and high-temperature resistant silicone rubber braided power cord. The heating lamp is fixed on the foldable bracket (10) in an arrangement mode when the irradiation uniformity is optimal on the surface of the simulated terrain (1); The fireproof heat insulation module comprises a heat preservation curtain bracket (12) fixed around the simulated terrain (1) and a heat preservation curtain (13) installed on the heat preservation curtain bracket (12); a control cabinet controls the storage and deployment of the heat preservation curtain (13); A simulated terrain was built on the ground based on the thermal characteristics of the Martian surface for the Mars rover's perception and navigation experiments based on temperature recognition.

2. A Mars surface thermal environment characteristics simulation system according to claim 1, characterized in that: The low-temperature coolant is propylene glycol, and the temperature of the low-temperature coolant is set according to the target control temperature at the bottom of the simulated terrain.

3. A Mars surface thermal environment characteristics simulation system according to claim 1, characterized in that: The thermal insulation curtain bracket (12) comprises a frame, a motor placed on the frame, a bearing placed on the frame and connected to the output shaft of the motor, and a reel placed on the frame and connected to the bearing.

4. A Mars surface thermal environment characteristics simulation system according to claim 3, characterized in that: The frame is a cubic frame surrounded by 4 columns and 8 beams, and the columns and beams are aluminum alloy profiles with square cross-sections; the motor is connected to the reel through a bearing, and drives the reel to rotate forward or reverse when the power is on, and the reel stops rotating when the power is off; the thermal insulation curtain (13) is fixed to the four side surfaces and the top surface of the thermal insulation curtain bracket (12) through the reel, bearings, and motor.

5. A system for simulating thermal environment characteristics of the Martian surface according to any one of claims 1 to 4, characterized in that: The simulated terrain (1) is set to soil layers with different mechanical property parameters, or rocks, pits, trenches, and slopes according to test requirements.

6. A method for simulating using the Mars surface thermal environment characteristics simulation system according to any one of claims 1 to 5, characterized in that include: Performing simulation preparation work, unfolding the insulation curtains (13) on five sides of the fireproof and heat-insulating module insulation curtain bracket (12) to reduce heat or cold loss and play a role in fire prevention; After the preparation work is completed, the refrigeration unit (8) is turned on and the temperature of the low-temperature coolant is set. The refrigeration unit (8) continuously lowers the temperature of the warm coolant during operation. When the low-temperature coolant reaches the set temperature, the inlet pipeline valve (6) and the outlet pipeline valve (7) are opened, and the low-temperature coolant enters the liquid-cooled heat exchanger (2) through the inlet pipeline (4) of the liquid-cooled heat exchanger (2), and transfers the cold energy it carries to the simulated terrain (1) located above through heat conduction, so that the temperature of the simulated terrain (1) is reduced; during this process, the temperature of the low-temperature coolant increases, and the heated low-temperature coolant flows back to the refrigeration unit (8) through the outlet pipeline (5) of the liquid-cooled heat exchanger (2), and is cooled to the set temperature again, completing the simulation of the first stage of the cooling process and entering the next cycle; After the simulation of the first cooling process is completed, the output power of the heating lamp (11) is set through the control cabinet, and the heating lamp (11) is powered on; during the operation, the heating lamp (11) transfers heat to the simulated terrain (1) located below the foldable support (10) through heat radiation and heat convection, so that the surface temperature of the simulated terrain (1) increases; Complete the simulation of the second heating process; After the second heating process simulation is completed, the heating module and the cooling module are turned off to simulate the natural cooling of the terrain (1) surface to the ambient temperature.

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