A planet rover transfer device and a transfer characteristic test evaluation method

Abstract

The application provides a planet rover transfer device and a transfer characteristic test evaluation method, and belongs to the technical field of planet rover transfer and test. The planet rover transfer release device comprises a slow-release rope, a hanger, a swing rod and an attitude control rope. One end of the swing rod is rotationally connected to a side wall of a lander. The other end of the swing rod is provided with an attitude control hinge. One end of the hanger is connected to the attitude control hinge, and the other end of the hanger is connected to a rover. One end of the attitude control rope is connected to the lander, and the other end of the attitude control rope passes through the attitude control hinge. The slow-release rope is wound on a slow-release rope wheel. The slow-release rope wheel is arranged on the side wall of the lander. The slow-release rope is connected to the hanger. The device is mainly used for planet rover transfer device and transfer characteristic test.

Description

Technical Field

[0001] This invention belongs to the field of planetary rover transfer and testing technology, and in particular relates to a planetary rover transfer device and a method for testing and evaluating transfer characteristics. Background Technology

[0002] The transfer mechanism is a component used to transfer and release the rover carried by the lander to the surface of a planet, and it has important applications in the field of extraterrestrial object exploration. The transfer and release technology represented by the transfer mechanism is one of the key technologies in the entire technical system required for extraterrestrial object exploration missions, and it is a crucial link that determines the success or failure of the exploration mission.

[0003] Depending on the landing method and the mass of the rover, the transfer mechanism takes various forms. Taking the transfer of a lunar rover as an example, it requires that during the Earth-Moon transfer phase, the lunar orbit phase, and the powered descent phase, the lunar rover and the transfer mechanism be reliably pressed against the sidewall of the lander and be able to withstand lateral and longitudinal acceleration loads; after the lander safely lands on the lunar surface, the lunar rover is reliably transferred to the lunar surface and reliably detached under the action of the transfer mechanism. This places higher demands on the transfer mechanism. During the flight phase and before the lunar landing transfer, the lunar rover and the transfer mechanism need to be securely and reliably mounted on the lander. After the lander lands on the moon, the transfer mechanism and the lunar rover must be separated and unlocked from the lander. The transfer mechanism will then reliably transfer the lunar rover to the lunar surface. Meanwhile, the lander will experience various landing conditions such as tilting and pitching. Therefore, the transfer mechanism should be able to reliably transfer the lunar rover to the lunar surface under various landing conditions. The landing site of the lunar rover should have a certain range of options to avoid lunar craters and protrusions. After the lunar rover lands smoothly on the moon, it will detach from the transfer mechanism and be able to move freely on the lunar surface.

[0004] The requirements for other rovers are basically the same as those for lunar rovers, so a solution that can meet the current needs of planetary rover transfer is required.

[0005] The rover transfer mechanism is a space-based mechanism used to perform rover transfer and release missions in the extraterrestrial environment. Whether the transfer mechanism meets stringent engineering constraints and design specifications, and whether it operates stably and reliably in uncertain environments, is crucial to the rover's successful mission completion during both the design and execution phases. Therefore, testing and evaluating the mechanism during the design and execution phases is particularly important; currently, research on testing, data acquisition, and evaluation systems for rover transfer mechanisms is scarce.

[0006] When conducting ground-based simulation experiments for a lunar rover, the simulated component needs to possess parameters such as mass, center of mass, and moment of inertia corresponding to those under conditions identical to those on the lunar surface. For example, since the lunar gravity is approximately 1 / 6 that of Earth, the simulated mass on the ground should be 1 / 6 that of the lunar surface. Directly manufacturing the simulated component and then making adjustments during ground-based simulation experiments involves a significant workload and is very costly. Summary of the Invention

[0007] In view of this, the present invention aims to provide a planetary rover transfer device and a method for testing and evaluating transfer characteristics to meet the needs of existing rover transfers.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a planetary rover transfer and release device, comprising a release rope, a boom, a pendulum, and an attitude control rope. One end of the pendulum is rotatably connected to the side wall of the lander, and the other end of the pendulum is provided with an attitude control hinge. One end of the boom is connected to the attitude control hinge, and the other end is connected to the rover. One end of the attitude control rope is connected to the lander, and the other end passes around the attitude control hinge. The release rope is wound on a release rope wheel, which is provided on the side wall of the lander. The release rope is connected to the boom.

[0009] Furthermore, the rover is connected to the side wall of the lander via a first locking mechanism. There are multiple first locking mechanisms, each located at a different corner of the rover. The first locking mechanism is an electromagnetic locking mechanism. The rover is connected to the boom via a second locking mechanism. The second locking mechanism is a mechanical locking mechanism, consisting of two mutually enclosing C-shaped structures. The boom is connected to the rover via a damping hinge. The boom has an L-shaped structure, and the rover is positioned inside the L-shaped structure. The attitude control hinge is equipped with a grooved cam structure, and the bottom of the release sheave is equipped with an elastic gripper.

[0010] This invention also provides a method for transferring and releasing a planetary rover. In the initial state of the transfer, the rover and the pendulum are locked to the side wall of the lander. When the transfer begins, the pendulum is released through a release rope, and the pendulum carries the rover to rotate. Due to the mechanical locking between the rover and the pendulum, the rover does not rotate around its center of mass in the initial stage of the transfer. When the rover and the pendulum are unlocked, the rover rotates around the damped hinge under the action of the gravitational torque of the center of mass. Under the action of damping and limiting, the rover and the pendulum are in a relatively stationary position after the rotation. The pendulum continues to rotate, transferring the rover to the planetary surface.

[0011] The present invention also provides a wireless test acquisition and evaluation system for a planetary rover transfer and release device, the system comprising: a sensor acquisition module, a wireless transmission module, and a host computer PC system;

[0012] The sensor acquisition module is used to collect test data of the transfer mechanism, and includes several sensors, which are respectively arranged in corresponding parts of the transfer mechanism.

[0013] The wireless transmission module is used to realize the wireless transmission of signals and data between the host computer PC system and the sensor acquisition module;

[0014] The host PC system is used to control the sensors, transmission system and transfer mechanism, as well as to collect, process and evaluate test results. Specifically, it includes: initialization and status monitoring, test process selection and parameter setting, data acquisition, data analysis and evaluation, and test logs and reports.

[0015] The initialization and status monitoring are used to enable joint communication among the various sensors, and also to determine the status of the transfer mechanism for prompting and alarming.

[0016] The test process selection and parameter setting are used to select different process stages such as unlocking, leveling, lowering, releasing or retrieving, and to conduct individual or combined tests on each process; the parameter setting realizes the test tasks of the transfer mechanism under different attitudes, and the parameters include slow release speed, lander attitude pitch and roll angle, linkage rope pretension force and visual instrument mass center of mass.

[0017] The data acquisition is used to complete channel calibration, adaptive data sampling processing, graphic and data display, and data parameter setting;

[0018] The data analysis and evaluation are used to analyze relevant experimental data and draw conclusions based on theoretical analysis and simulation data. Specifically, this includes: obtaining the single-factor regularity results of individual variables of the experimental conditions and working conditions of the transfer mechanism on key measurement parameters; generating parameter coupling orthogonal experimental tables based on the key experimental parameters and working condition experimental parameters of the transfer mechanism, and providing multi-factor orthogonal experimental schemes; obtaining multi-factor level trend diagrams through multi-factor orthogonal experimental testing, and obtaining the combined parameters of the maximum possible influence of the measurand during the transfer mechanism test process; and obtaining the data rationality of the transfer mechanism test, the influence of single factors on the measurand during the experimental process, and the maximum possible influence of multiple factors on the measurand through comparative analysis with simulation data and analysis of single-factor and multi-factor experimental results.

[0019] Furthermore, the sensor acquisition module includes patch-type strain sensors, tension sensors, angle sensors, and torque sensors. The test data includes stress, strain, tension, pressure, and angle. These sensors are respectively arranged at corresponding locations on the transfer mechanism. Specifically, the tension sensors are used to acquire the tension of the release rope of the suspension transfer mechanism and the tension of the attitude adjustment rope for adjusting the attitude of the probe, and are respectively arranged at the connection between the release rope and the swing arm of the flipping mechanism, and at the midpoint of the attitude adjustment rope between the rotating hinge and the linkage mechanism of the transfer mechanism; the patch-type strain sensors are used to acquire the strain at key structural locations of the transfer mechanism, and are respectively arranged on the rotating hinge and linkage mechanism of the main swing frame. The sensors are located at the midpoint between the mechanisms, the connection support between the lower rotating hinge and the lander, the connection between the locking mechanism and the lander, and the midpoint of the swing arm; the angle sensors are used to acquire the rover's pitch angle, the lander's attitude angle, and the transfer mechanism's tilt angle, and are respectively arranged on the side of the lander where the transfer mechanism is not installed, on the horizontal plane above the rover, and at a non-interfering location on the rover's mounting surface; the torque sensors acquire the torque at key structural positions of the transfer mechanism, and are respectively arranged at the lower hinge axis of the transfer mechanism and the upper tilting mechanism's swing axis. The wireless transmission of signals and data between the host PC system and the sensor acquisition module specifically includes: based on the sensor acquisition... The module includes a method for establishing multi-channel synchronous data acquisition and communication, based on the number and types of sensors. Specifically, this involves: establishing a database of wireless transmission module IP address information and data acquisition channel information to obtain their correspondence; establishing multi-channel synchronous data acquisition and communication with the wireless transmission module; and creating a database file table by inputting the IP addresses of each wireless transmission module and the corresponding number of data acquisition channels; registering all data acquisition channels (similar to address registration); registering the specific data acquisition information for each channel; and reading the address and channel name into two enumerations, selecting the corresponding wireless transmission module and address. The system involves inputting the specific information corresponding to a given channel to complete data entry. A single IP address can correspond to multiple channels, but a single channel can only select one IP address. The process of completing channel calibration, adaptive data sampling processing, graphical and data display, and setting data parameters specifically includes: channel calibration, which calculates and records the calibration correction relationship for each channel sensor by comparing multiple sets of actual and test values; adaptive data sampling processing, which analyzes data characteristics based on pre-imported simulation data and adaptively adjusts the data sampling and storage frequency; and setting data parameters, which saves the set parameters in each channel simultaneously during the data acquisition process.

[0020] This invention also provides a wireless test acquisition and evaluation method for a planetary rover transfer and release device based on a wireless test acquisition and evaluation system, the method comprising:

[0021] S1. Run the host PC system; complete the initialization of system hardware and communication tests;

[0022] S2. The transfer mechanism slow-release drive device is powered on, the lander is prepared, the slow-release drive device and the rover electromagnetic locking device are powered off and locked, and the quality preparation of the rover prototype is completed.

[0023] S3. According to the test requirements, set the parameters, including the working condition control parameters, input range and key test parameters, and adjust and monitor the working condition of the transfer mechanism.

[0024] S4: Real-time testing, data recording, angle status monitoring, and real-time data display;

[0025] S5. Data tables and curves display data storage and experimental log records;

[0026] S6. Data analysis, experimental evaluation, and experimental report.

[0027] Furthermore, S1 specifically includes:

[0028] S1.1 Create a new tdms database file table IPAdress, and input the IP address of each group of wireless transmission modules and the corresponding number of sensor acquisition channels;

[0029] S1.2 Complete the registration of all channels;

[0030] S1.3 Complete the registration of specific information for each channel, read the IP address and channel name into two enumerations, select the channel corresponding to the IP address, and enter the specific information of the channel corresponding to that channel; the same IP can correspond to multiple channels, but a channel can only select one IP;

[0031] S1.4 Establish TCP listening between the host software system and the wireless transmission module, and establish a multi-address TCP synchronous connection by using the wireless transmission module IP registered in S1.1, S1.2 and S1.3 and collecting channel information.

[0032] Furthermore, S4 specifically includes:

[0033] S4.1 Complete the simulation calculation of key parameters based on the sensor layout;

[0034] S4.2. Extract simulation data features from the simulation data and establish a regular acquisition frequency;

[0035] The key steps in the acquisition process are determined, specifically including: the acquisition density in the left and right neighborhoods of extreme points is much greater than that of other locations, and the acquisition density in the left and right neighborhoods of slope change points is much greater than that of other locations. The acquisition frequency is adjusted simultaneously by controlling the multi-path synchronous communication established through S1.

[0036] S4.3. Based on the settings in S3, the operating condition parameters, key test parameters, and their input ranges are set. Within the input range of the operating condition parameters, the operating conditions are divided into one of the following: equal intervals, bisecting intervals, golden section intervals, and Fibonacci intervals. For each operating condition parameter, a single-factor test plan and table are automatically generated. When the operating condition parameter range is large and the standard operating condition is unknown, the bisecting interval is used. When the measurement system has high accuracy requirements and the key parameter curve is unimodal, the golden section interval is used. When the operating condition parameter has integer or finite values, the Fibonacci interval is used. Under normal conditions, equal intervals are used.

[0037] S4.4. Based on the single-factor test plan generated in S4.3, determine the number of factors and levels of operating parameters and key parameters, establish orthogonal relationships, and generate the relevant orthogonal table L based on orthogonality. n (a) p ), where P is the number of columns in the orthogonal array, n is the number of rows in the orthogonal array, and a is the number of levels; multi-factor test schemes and multi-factor orthogonal test tables are generated by using orthogonal tables and operating parameters and key parameters;

[0038] S4.5 Read all sensor acquisition channels in S1 and extract the specific information of each channel; complete the channel calibration test, input the actual and test values ​​of multiple sensors into the data acquisition module of the software system, calculate the curve coefficients K and B between the actual and test values, and input the results into the database; automatically calibrate the multi-channel sensor data based on the curve coefficients K and B in the database.

[0039] S4.6 Input the simulation data according to the registered channel name, and adaptively adjust the sensor acquisition frequency based on the characteristics of the simulation data curve.

[0040] The present invention also provides a planetary rover equivalent mass simulation device for a planetary rover transfer and release device, comprising a frame structure, a wheel system and a counterweight system. The counterweight system is fixed inside the frame structure and includes counterweight blocks. By adjusting the weight and position of the counterweight blocks, the position of the counterweight and the center of mass is simulated. The wheel system is fixed to the frame structure and the height of the wheel system can be adjusted to simulate the corresponding mass and center of mass.

[0041] Furthermore, the wheel system includes several wheels and a frame. The wheels are connected to the frame, which includes several square members, connectors, and rotating joints. The square members are connected to the rotating joints via connectors and are connected to the wheels. The wheel system also includes fastening bolts mounted on wheel mounting seats. The wheel mounting seats have multiple positions, which are adjusted by the fastening bolts to adjust the height of the wheel system. The counterweight system also includes a counterweight mounting rod, a counterweight mounting plate, and several counterweight mounting bolts. The counterweight mounting rod is fixed to the upper part of the frame structure, and the counterweight mounting plate is fixed to the counterweight mounting... On the pole, a number of counterweight mounting bolts are installed on the counterweight mounting plate. Each counterweight mounting bolt is used to install a counterweight block. The counterweight block is fixed by nuts and sleeves. The counterweight system has three counterweight modes: nominal weight, 1.2 times the nominal weight, and 1.5 times the nominal weight. The counterweight mounting plate is a slotted aluminum plate. The frame structure is made of aluminum alloy square material connected with connectors. A cross-shaped reinforcing rod is installed in the bottom frame of the frame structure to prevent bottom deformation. The counterweight system also includes a support column. The top of the support column is connected to the support plate installed on the counterweight mounting rod, and the bottom is connected to the cross-shaped reinforcing rod.

[0042] Compared with existing technologies, the beneficial effects of this invention are: the planetary rover transfer and release device and method described in this invention can adapt to a 15° pitch and roll angle on the planetary surface. The rover wheels are locked in the initial state and unlocked and deployed when the rover approaches the planetary surface. The transfer and release devices are characterized by low system mass and low power consumption. The attitude control hinge is a composite structure, which, in addition to having a rotation function, also has a grooved cam structure for rotational limit. The attitude control rope-swing arm assembly constitutes a parallel four-bar linkage to achieve force and attitude control. During the transfer, the grooved cam profile of the attitude control hinge can be designed according to the actual transfer requirements, and the length of the attitude control rope can be adjusted to control the rotation angle of the boom during the swing, thereby adjusting the landing attitude and transfer distance of the rover. The damping hinge is a composite structure with functions such as gravity torque rotation limit and limiting the swing oscillation of the rover. The slow-release rope wheel has active traction and passive release functions. This invention allows the transfer and release device to operate under negative landing angles where the gravitational torque is insufficient to drive it. The active traction function of the slow-release sheave increases the adaptability of the invention. During the swinging process, when the gravitational torque actively performs work, the slow-release sheave is in a passively released state, controlling the swing arm's rotation speed. The bottom of the slow-release sheave has an elastic grip, which can prevent the impact on the transfer and release device caused by the sudden release of the swing arm after unlocking during positive landing angles.

[0043] The wireless test acquisition and evaluation system and method for the transfer mechanism of a patrol vehicle described in this invention fully completes the entire test process of the transfer mechanism's deployment and transfer under four attitudes: nominal, backward tilt, forward tilt, and side tilt. It rationally designs and lays out the sensor acquisition modules to collect key parameters such as drive component parameters, rope tension, angle, and strain at different positions of the mechanism during the test process. Based on simulation data, it can rationally adjust the data density to accurately and efficiently complete data processing, preprocessing and storing the corresponding data of various experimental parameters and key measurands under test conditions. It can perform single-factor analysis between relevant parameters by comparing the acquired data with simulation results, generate parameter-coupled orthogonal test tables based on the key test parameters and test conditions of the transfer mechanism, and provide multi-factor orthogonal test schemes. Through multi-factor orthogonal test testing and result analysis, it can obtain multi-factor horizontal trend diagrams and obtain the combined parameters of the maximum possible influence of the measurand (such as maximum load) during the transfer mechanism test process. Through comparative analysis of test data and simulation data, combined with single-factor and multi-factor test analysis results, it can provide an assessment of the data rationality of the transfer mechanism test, the influence of single factors on the measurand during the experimental process, and the maximum possible influence of multiple factors on the measurand. It is applicable to the testing of the transfer mechanism of the patrol vehicle. It can accurately and conveniently complete the key parameter testing, collection and evaluation functions of the entire process of the transfer characteristic test of the transfer mechanism. It can evaluate the rationality of the test data under the test conditions of the transfer mechanism, the law of the test parameters, and the performance status of the test parts. It can verify the correctness of the design principle of the transfer mechanism, the rationality and matching of the component design, and provide sufficient data basis for further discovering design deficiencies and improving the product design.

[0044] The planetary rover equivalent mass simulation device described in this invention first uses computer simulation software to simulate the mass and center of mass, then conducts experimental planning to simulate the lunar equivalent mass of the prototype rover, assisting in the transfer mechanism transfer characteristic test. It can simulate the actual dimensions of the rover, as well as its equivalent mass, equivalent center of mass, and moment of inertia under lunar conditions. It can simulate the rover's mass and center of mass position on the lunar surface, providing a more realistic simulation object for the design of the transfer mechanism and the Earth's surface, and allows for adjustment of multiple mass levels. The frame structure is specifically optimized. Due to the load counterweight, a simple 12-bar frame cannot bear excessive weight and is prone to deformation at 1.2 and 1.5 times the standard weight, causing the center of mass to shift and resulting in significant errors in the experimental results. Therefore, this invention adds vertical support rods to the left, right, rear, and middle parts of the frame structure to strengthen longitudinal strength. A cross-shaped reinforcing rod is added to the bottom to prevent deformation. The front needs to be fixed to the transfer mechanism, which places certain structural requirements; therefore, a horizontal bar and two short longitudinal rods are added to the front for support. To further offset the effects of the counterweight on the frame structure and the deformation of the center-of-gravity mounting rod, a supporting column is erected at the center of the bottom reinforcing cross to hold the center-of-gravity mounting rod in place. This invention uses ANSYS simulation software to obtain the deformation of the simulated vehicle's overall structure under 1.5 times its nominal weight, obtaining the deformation under both horizontal and vertical placement. The optimized structure shows a significant reduction in deformation. The patrol vehicle's wheels are height-adjustable, allowing for corresponding mass center-of-gravity simulations. The wheel system consists of wheels, rotating joints, and a connecting frame. To achieve various wheel heights and ensure all three wheels are on the same horizontal plane, three rotating joints are designed to adjust the wheel height and attitude. Attached Figure Description

[0045] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0046] Figure 1 This is a schematic diagram of the structure of a planetary rover transfer and release device according to the present invention;

[0047] Figure 2 This is a schematic diagram of the transfer state of a planetary rover transfer and release device according to the present invention;

[0048] Figure 3 This is a schematic diagram of the initial locking state of a planetary rover transfer and release method according to the present invention;

[0049] Figure 4 This is a schematic diagram of the swing state A of the planetary rover transfer and release method according to the present invention;

[0050] Figure 5This is a schematic diagram of the swing state B of a planetary rover transfer and release method according to the present invention;

[0051] Figure 6 This is a schematic diagram of the final state of a planetary rover transfer and release method according to the present invention;

[0052] Figure 7 This is a schematic diagram of the active traction state of the slow-release rope pulley described in this invention;

[0053] Figure 8 This is a schematic diagram of the passive slow-release state of the slow-release rope pulley described in this invention;

[0054] Figure 9 This is a schematic diagram of the hardware structure of the wireless test acquisition and evaluation system for the patrol transfer mechanism of the present invention.

[0055] Figure 10 This is a diagram showing the experimental sensor deployment scheme of the measurement system of the present invention;

[0056] Figure 11 This is a schematic diagram of the wireless test acquisition and evaluation system for the patrol transfer mechanism of the present invention.

[0057] Figure 12 This is a schematic diagram of the hardware structure of the wireless test acquisition and evaluation system for the patrol transfer mechanism of the present invention.

[0058] Figure 13 This is a schematic diagram of the equivalent mass simulation device for a planetary rover according to the present invention;

[0059] Figure 14 This is a schematic diagram of the wheel deployment of the planetary rover equivalent mass simulation device described in this invention;

[0060] Figure 15 The diagram shows three different mating weight installation scenarios, where (a) represents the nominal weight mode, (b) represents the 1.2 times nominal weight mode, and (c) represents the 1.5 times nominal weight mode.

[0061] Figure 16 This is a three-dimensional structural diagram of the planetary rover equivalent mass simulation device described in this invention;

[0062] Figure 17 This is a diagram of the framework structure described in this invention;

[0063] Figure 18 This is a schematic diagram of the wheels being lowered in the equivalent mass simulation device for the planetary rover described in this invention.

[0064] Figure 19 This is a schematic diagram of the retracted wheels of the planetary rover equivalent mass simulation device described in this invention;

[0065] Figure 20 This is a schematic diagram of the counterweight system described in this invention;

[0066] Figure 21 This is a schematic diagram of the wheel system described in this invention.

[0067] 1-First locking mechanism, 2-Release pulley, 3-Release rope, 4-Attitude control hinge, 5-Second locking mechanism, 6-Hole, 7-Damping hinge, 8-Rover, 9-Swing arm, 10-Attitude control rope, 11-Lander, 12-Frame structure, 13-Counterweight system, 14-Wheel system, 15-Fixed corner bracket, 16-Support plate, 17-Support column, 18-Counterweight B, 19-Counterweight A, 20-Counterweight mounting rod, 21-Counterweight 22-Counterweight mounting plate, 23-Rotating joint, 24-Square timber adapter, 25-Wheel, 26-Fastening bolt, 27-Wheel mounting seat, 28-Square timber-spindle adapter, 29-Square timber No. 1, 30-Square timber No. 2, 31-Square timber No. 3, 32-Spindle, 33-Wheel system mounting seat, 34-Square timber No. 6, 35-Conversion port, 36-Square timber No. 4, 37-Square timber No. 5, 38-V-type rotating adapter. Detailed Implementation

[0068] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.

[0069] See Figure 1-8 This embodiment describes a planetary rover transfer and release device, which includes a release rope 3, a boom 6, a pendulum 9, and an attitude control rope 10. One end of the boom 9 is rotatably connected to the side wall of the lander 11, and the other end of the boom 9 is provided with an attitude control hinge 4. One end of the boom 6 is connected to the attitude control hinge 4, and the other end is connected to the lunar rover. One end of the attitude control rope 10 is connected to the lander 11, and the other end passes around the attitude control hinge 4. The release rope 3 is wound on a release rope wheel 2, which is located on the side wall of the lander 11. The release rope 3 is connected to the boom 6.

[0070] This embodiment adopts a "double-rod, double-rod" structure, where the "double rods" are the pendulum rod 9 and the boom 6, and the "double ropes" are the release rope 3 and the attitude control rope 10. The pendulum rod 9 is a rigid structure capable of rotating around its connection point with the side wall of the lander 11. The boom 6 is welded to the attitude control hinge 4; the rotation of the attitude control hinge 4 controls the rotation of the boom 6, causing the lunar rover to rotate and reducing the potential energy of the lunar rover when it disengages from the boom 6 via the mechanical locking mechanism. The release rope 3 is released through the release rope pulley 2 and is connected to the pendulum rod 9. The release rope 3 is elastic, reducing the descent speed of the pendulum rod 9. The attitude control rope 10 controls the attitude of the boom 6 and the lunar rover by bypassing the attitude control hinge 4.

[0071] The slow-release sheave 2 is used to release the slow-release rope 3 to reduce the descent speed of the pendulum 9. The slow-release sheave 2 has both active traction and passive release functions. It allows the transfer release device to operate by utilizing the active traction function of the slow-release rope 3 when the gravitational torque is insufficient to drive the pendulum mechanism in a negative landing angle.

[0072] The lunar rover is connected to the side wall of the lander 11 via a first locking mechanism 1. In the initial state, the lunar rover and the pendulum 9 are locked to the side wall of the lander 11 by the first locking mechanism 1. Preferably, there are multiple first locking mechanisms 1, located at multiple corners of the lunar rover. The lunar rover wheels are folded closer to the lander 11. During the transfer process, the wheel suspension can be actively deployed, and the lunar rover wheels reach the working state. The first locking mechanism 1 is preferably an electromagnetic locking mechanism, which uses electromagnetic locking. When energized, the magnetism disappears, releasing the pendulum 9.

[0073] The lunar rover is connected to the boom 6 via a second locking mechanism 5. Because of this second locking mechanism 5, the lunar rover does not rotate around its center of mass during the initial transfer phase, preventing a collision with the lander 11. When the lunar rover and boom 6 are unlocked, the second locking mechanism 5 is also unlocked. Preferably, the second locking mechanism 5 is a mechanical locking mechanism, consisting of two mutually enclosing C-shaped structures that control the fixation of the lunar rover and boom 6. At a suitable angle, they disengage, releasing the lunar rover from the boom 6.

[0074] The boom 6 is connected to the lunar rover via a damping hinge 7. The boom 6 has an L-shaped structure, and the lunar rover is positioned inside the L-shaped structure. The damping hinge 7 is a composite structure with functions such as limiting the rotational movement under gravity and restricting the lunar rover's oscillations. When the lunar rover is unlocked from the boom 6, the mechanical locking mechanism unlocks, and the lunar rover rotates around the damping hinge 7 under the action of the gravitational torque at its center of mass. Under the action of damping and limiting, the lunar rover and the boom 6 are in a relatively stationary position after rotation.

[0075] The attitude control hinge 4 is a composite structure. In addition to its rotation function, it also features a grooved cam structure for rotational limiting. The attitude control rope-swing arm assembly forms a parallel four-bar linkage, enabling force and attitude control. During the transfer process, the grooved cam profile of the attitude control hinge 4 can be designed according to actual needs, and the length of the attitude control rope 10 can be adjusted to control the rotation angle of the boom 6 during the swing, thereby adjusting the lunar rover's landing attitude and transfer distance. The bottom of the slow-release rope wheel 2 is equipped with an elastic gripper, which can prevent the sudden release of the boom 9 after unlocking from impacting the transfer release device when the landing is at a positive tilt angle.

[0076] This invention also provides a method for transferring and releasing a planetary rover transfer and release device. In the initial state of the transfer, the lunar rover and the pendulum 9 are locked to the side wall of the lander 11. When the transfer begins, the pendulum 9 is released through the release rope 3. The pendulum 9 carries the lunar rover and swings. Due to the mechanical locking between the lunar rover and the boom 6, the lunar rover does not rotate around the center of mass in the initial stage of the transfer. When the lunar rover and the boom 6 are unlocked, the lunar rover rotates around the damped hinge 7 under the action of the gravitational torque of the center of mass. Under the action of damping and limiting, the lunar rover and the boom 6 are in a relatively stationary position after the rotation. The pendulum 9 continues to rotate, transferring the lunar rover to the planetary surface.

[0077] The lunar rover is connected to the lander's sidewall (Y0Z plane) via multiple locking points, located at various corners of the rover's compartment. The rover's wheels are folded down towards the lander, and during transfer, the wheel suspensions can be actively deployed, bringing the rover's wheels into operational mode.

[0078] The attitude control hinge 4 is a composite structure. In addition to its rotation function, it also features a grooved cam structure for rotational limiting. The attitude control rope-swing arm assembly forms a parallel four-bar linkage, enabling force and attitude control. During the transfer process, the grooved cam profile of the attitude control hinge 4 can be designed according to actual needs, and the length of the attitude control rope 10 can be adjusted to control the rotation angle of the boom 6 during the swing, thereby adjusting the lunar rover's landing attitude and transfer distance.

[0079] The damping hinge 7 is a composite structure with functions such as limiting the rotation of the gravitational torque and restricting the oscillation of the lunar rover. The slow-release sheave 2 has both active traction and passive release functions. When the gravitational torque is insufficient to drive the oscillation mechanism at a negative landing angle, the transfer and release device can be driven by the active traction function of the slow-release rope 3, increasing the adaptability of this design. During oscillation, when the gravitational torque actively performs work, the slow-release sheave 2 is in a passive release state, controlling the rotation speed of the pendulum 9. The bottom of the slow-release sheave 2 is equipped with an elastic gripper, which can prevent the impact on the transfer and release device caused by the sudden release of the pendulum 9 after unlocking at a positive landing angle.

[0080] The process of transferring and releasing the lunar rover, such as Figure 3-6As shown. In the initial transfer and release state, the lunar rover and pendulum 9 are locked together on the side of the lander 11. At the start of the transfer, pendulum 9 carries the lunar rover in a swinging motion. Due to the mechanical locking between the lunar rover and boom 6, in the initial stage of the transfer, i.e., swinging state A, the lunar rover does not rotate around its center of mass, thus avoiding a collision between the lunar rover and the lander 11. When the lunar rover and boom 6 are unlocked, the mechanical locking mechanism unlocks, and the lunar rover rotates around the damped hinge 7 under the action of the gravitational torque of its center of mass, and the system enters the swinging state B. Under the action of damping and limiting, the lunar rover and boom 6 are in a relatively stationary position after the rotation. Pendulum 9 continues to rotate, transferring the lunar rover to the lunar surface. The entire lunar rover transfer process is complete.

[0081] The transfer plan for other planets is the same as the lunar landing transfer process; Rover 8 can be the rover for the corresponding planet.

[0082] The described planetary rover transfer and release device and method can adapt to a 15° pitch and roll angle on the planetary surface. The rover wheels are locked in the initial state and unlocked and deployed when the rover approaches the planetary surface. The transfer and release devices are characterized by low system mass and low power consumption. The attitude control hinge is a composite structure, which, in addition to its rotation function, also has a grooved cam structure for rotational limit. The attitude control rope-swing arm assembly forms a parallel four-bar linkage to achieve force and attitude control. During the transfer, the grooved cam profile of the attitude control hinge can be designed according to actual transfer requirements, and the length of the attitude control rope can be adjusted to control the rotation angle of the boom during the swing, thereby adjusting the rover's landing attitude and transfer distance. The damping hinge is a composite structure with functions such as gravity torque rotation limit and limiting the rover's swing oscillation. The slow-release rope wheel has active traction and passive release functions. This allows the transfer and release device to operate using the active traction function of the slow-release rope wheel when the gravitational torque is insufficient to drive the device during a negative landing angle, increasing the adaptability of the invention. During the swing, when the gravitational torque actively does work, the release sheave is in a passive release state, controlling the swing arm's rotation speed. The bottom of the release sheave has an elastic grip, which can prevent the sudden release of the swing arm after unlocking from impacting the transfer release device when landing at a positive tilt angle.

[0083] A wireless test acquisition and evaluation system and method for a patrol vehicle transfer mechanism includes the following implementation methods:

[0084] Implementation Method 1: A wireless test acquisition and evaluation system for a patrol transfer mechanism, the system comprising: a sensor acquisition module, a wireless transmission module, and a host computer PC system;

[0085] The sensor acquisition module is used to collect test data of the transfer mechanism, and includes several sensors, which are respectively arranged in corresponding parts of the transfer mechanism.

[0086] The wireless transmission module is used to realize the wireless transmission of signals and data between the host computer PC system and the sensor acquisition module;

[0087] The host PC system is used to control the sensors, transmission system and transfer mechanism, as well as to collect, process and evaluate test results. Specifically, it includes: initialization and status monitoring, test process selection and parameter setting, data acquisition, data analysis and evaluation, and test logs and reports.

[0088] The initialization and status monitoring are used to enable joint communication among the various sensors, and also to determine the status of the transfer mechanism for prompting and alarming.

[0089] The test process selection and parameter setting are used to select different process stages such as unlocking, leveling, lowering, releasing or retrieving, and to conduct individual or combined tests on each process; the parameter setting realizes the test tasks of the transfer mechanism under different attitudes, and the parameters include slow release speed, lander attitude pitch and roll angle, linkage rope pretension force and visual instrument mass center of mass.

[0090] The data acquisition is used to complete channel calibration, adaptive data sampling processing, graphic and data display, and data parameter setting;

[0091] The data analysis and evaluation are used to analyze relevant experimental data and draw conclusions based on theoretical analysis and simulation data. Specifically, this includes: obtaining the single-factor regularity results of individual variables of the experimental conditions and working conditions of the transfer mechanism on key measurement parameters; generating parameter coupling orthogonal experimental tables based on the key experimental parameters and working condition experimental parameters of the transfer mechanism, and providing multi-factor orthogonal experimental schemes; obtaining multi-factor level trend diagrams through multi-factor orthogonal experimental testing, and obtaining the combined parameters of the maximum possible influence of the measurand during the transfer mechanism test process; and obtaining the data rationality of the transfer mechanism test, the influence of single factors on the measurand during the experimental process, and the maximum possible influence of multiple factors on the measurand through comparative analysis with simulation data and analysis of single-factor and multi-factor experimental results.

[0092] In this embodiment, the entire testing process of the transfer mechanism’s deployment and transfer in four postures—nominal, backward, forward, and side tilt—can be completed. The sensor acquisition module is designed and laid out in a reasonable manner to collect key parameters such as drive component parameters, rope tension, angle, and strain at different positions of the mechanism during the test.

[0093] It can reasonably adjust the data density based on simulation data, accurately and efficiently complete data processing, and complete the preprocessing and storage of key measured data under various experimental parameters and experimental conditions.

[0094] It can perform single-factor analysis between relevant parameters by comparing the collected data with the simulation results, generate parameter coupling orthogonal test tables based on the key test parameters of the transfer mechanism and the test parameters of the working condition, and provide multi-factor orthogonal test schemes. Through multi-factor orthogonal test and result analysis, it can obtain multi-factor horizontal trend diagrams and obtain the combined parameters of the maximum possible influence of the measured quantity (such as the maximum load) during the test of the transfer mechanism.

[0095] By comparing and analyzing test data with simulation data, and combining the results of single-factor and multi-factor experiments, we can provide an assessment of the data rationality of the transfer mechanism experiment, the impact of single factors on the measurand during the experiment, and the maximum possible impact of multiple factors on the measurand.

[0096] Implementation Method Two: This implementation method further defines the wireless test acquisition and evaluation system for a patrol vehicle transfer mechanism described in Implementation Method One. In this implementation method, the sensor acquisition module is further defined, specifically including:

[0097] The sensor acquisition module includes a patch strain sensor, a tension sensor, an angle sensor, and a torque sensor.

[0098] In this embodiment, a suitable sensor is selected to collect key parameters such as drive component parameters, rope tension, angle, and strain at different positions of the mechanism during the test.

[0099] Implementation Method 3 further defines the wireless test acquisition and evaluation system for a rover transfer mechanism described in Implementation Method 2. In this implementation method, the test data is further defined, specifically including:

[0100] The test data include stress, strain, tensile force, compressive force, and angle.

[0101] The test data in this embodiment are used to directly or indirectly reflect key parameters such as drive component parameters, rope tension, angle, and strain at different positions of the mechanism.

[0102] Implementation Method Four: This implementation method further defines the wireless test acquisition and evaluation system for a patrol vehicle transfer mechanism described in Implementation Method Three. In this implementation method, the arrangement of the plurality of sensors at corresponding locations on the transfer mechanism is further defined, specifically including:

[0103] The tension sensors are used to acquire the tension of the release rope of the suspension transfer mechanism and the attitude adjustment rope of the rover, respectively, and are arranged at the connection between the release rope and the swing arm of the flipping mechanism, and at the midpoint of the attitude adjustment rope between the rotating hinge and the linkage mechanism of the transfer mechanism; the patch-type strain sensors are used to acquire the strain at key positions of the transfer mechanism structure, respectively, and are arranged at the midpoint between the rotating hinge and the linkage mechanism on the main swing frame, at the connection support between the lower rotating hinge and the lander, at the connection between the locking mechanism and the lander, and at the midpoint of the swing arm; the angle sensors are used to acquire the rover's pitch angle, the lander's attitude angle, and the transfer mechanism's flip angle, respectively, and are arranged at the side of the lander where the transfer mechanism is not installed, at the horizontal plane above the rover, and at the non-interference point on the surface of the transfer mechanism where the rover is installed; the torque sensors acquire the torque at key positions of the transfer mechanism structure, respectively, and are arranged at the lower hinge axis of the transfer mechanism and the upper swing axis of the flipping mechanism.

[0104] In this embodiment, the sensor acquisition module is designed and laid out in a reasonable manner to collect key parameters such as drive component parameters, rope tension, angle, and strain at different positions of the mechanism during the test.

[0105] Implementation Method Five: This implementation method further defines the wireless test acquisition and evaluation system for a patrol vehicle transfer mechanism described in Implementation Method One. In this implementation method, the wireless transmission of signals and data between the host PC system and the sensor acquisition module is further defined, specifically including:

[0106] Based on the number and type of sensors in the sensor acquisition module, a multi-channel synchronous acquisition and communication method is established.

[0107] In this embodiment, a wireless transmission module is used to realize wireless transmission between the host PC system and the sensor acquisition module of the transfer mechanism, thereby achieving wireless communication of signals and data.

[0108] Using a wireless transmission module as the carrier and TCP communication as the foundation, a multi-channel synchronous acquisition and communication method is established for various types of sensors, such as tension sensors, stress-strain sensors, and angle sensors. The wireless transmission module has multiple expansion interfaces to increase the number of test channels, facilitating the addition and modification of test plans at any time.

[0109] The wireless transmission module meets the functional performance requirements of the test system, and on the other hand, it can greatly avoid the additional load and sensor interference generated by the wired system, making the system implementation simpler and more convenient.

[0110] Implementation method six is ​​a further definition of the wireless test acquisition and evaluation system for a patrol vehicle transfer mechanism described in implementation method one. In this implementation method, the implementation of joint communication among the plurality of sensors is further defined, specifically including:

[0111] By establishing a database of IP address information of wireless transmission module group and acquisition channel information, the correspondence between the two is obtained, and multi-channel synchronous acquisition communication is established with the wireless transmission module;

[0112] The database establishment steps include: creating a database file table, inputting the IP addresses of each wireless transmission module and the corresponding number of acquisition channels to complete data entry; registering all acquisition channels, similar to the address registration process; registering the specific acquisition information for each channel; reading the address and channel name into two enumerations, selecting the wireless transmission module and the channel corresponding to the address, and inputting the specific information of the channel to complete data entry; where the same IP can correspond to multiple channels, but a channel can only select one IP.

[0113] In this embodiment, by establishing a database of IP address information of the wireless transmission module group and information of the acquisition channel, the corresponding relationship between the two is obtained and input into the software system. Multi-channel synchronous acquisition communication is established with the wireless transmission module to achieve synchronous data acquisition that matches the test process with high precision, providing a foundation for subsequent data processing and evaluation testing.

[0114] Implementation method seven is a further definition of the wireless test acquisition and evaluation system for a patrol vehicle transfer mechanism described in implementation method one. In this implementation method, the completion of channel calibration, adaptive data sampling processing, graphic and data display, and data parameter settings are further defined, specifically including:

[0115] The channel calibration is performed by comparing and calculating multiple sets of actual values ​​and test values ​​to obtain the calibration correction relationship of each channel sensor, and then recording and storing the results. The adaptive data sampling processing analyzes data characteristics based on pre-imported simulation data and adaptively adjusts the sampling and storage frequency of the data. The data parameter settings are saved in each channel simultaneously during the data acquisition process.

[0116] In this embodiment, the sampling and storage frequency of data is adaptively adjusted to increase the data density at critical moments or stages of the experiment, while reducing the density of smoothly changing data to save storage space and achieve adaptive acquisition.

[0117] Implementation method eight, this implementation method is based on a specific embodiment of a wireless test acquisition and evaluation system for a patrol vehicle transfer mechanism as described above, including:

[0118] The system consists of two parts: a hardware system and a software system.

[0119] like Figure 9 As shown, the hardware system includes a sensor acquisition module, a wireless transmission module, and a host PC system.

[0120] The sensor acquisition module includes a tension sensor and an angle sensor, which are used to measure the stress, strain, tension, pressure, angle, etc., respectively.

[0121] Sensor wiring arrangement as follows Figure 9 As shown, multiple sensors are arranged and connected in corresponding parts of the transfer mechanism to achieve the function of accurately measuring the measurand or the measurand component.

[0122] Tension sensors are used to acquire the tension of the release rope (S101) of the suspension transfer mechanism and the tension of the attitude adjustment rope (S102, S103) for adjusting the attitude of the rover. They are respectively located at the connection between the release rope and the swing arm of the tilting mechanism, and at the midpoint of the attitude adjustment rope between the rotating hinge and the linkage mechanism of the transfer mechanism. Patch-type strain sensors are used to acquire strain at key structural locations of the transfer mechanism. They are respectively located at the midpoint between the rotating hinge and the linkage mechanism on the main swing frame (F201), at the connection support between the lower rotating hinge and the lander (F204, F205), and at the locking mechanism and... Lander connection point (F203), midpoint of swing arm (F202); angle sensors are used to obtain the rover pitch angle (A301), lander attitude angle (A302), and transfer mechanism flip angle (A303), respectively, and are arranged on the side of the lander where the transfer mechanism is not installed, on the horizontal plane above the rover, and at the point where the transfer mechanism is installed on the rover surface without interference; torque sensors are used to obtain the torque at key positions of the transfer mechanism structure, respectively arranged at the lower hinge axis of the transfer mechanism (T402, T403) and the upper flip mechanism swing axis (T401).

[0123] Wireless transmission module: The wireless transmission module enables wireless transmission between the host PC system and the sensor acquisition module of the transfer mechanism, realizing wireless communication of signals and data.

[0124] Using a wireless transmission module as the carrier and TCP communication as the foundation, a multi-channel synchronous acquisition and communication method is established for various types of sensors, such as tension sensors, strain gauges, and angle sensors. The wireless transmission module has multiple expansion interfaces to increase the number of test channels and facilitates the addition and modification of test plans at any time.

[0125] The wireless transmission module meets the functional performance requirements of the test system, and on the other hand, it can greatly avoid the additional load and sensor interference generated by the wired system, making the system implementation simpler and more convenient.

[0126] The host computer (PC) system serves as the carrier of the software system, enabling control of sensors, transmission systems, and transfer mechanisms, as well as data acquisition, processing, and evaluation of test results.

[0127] like Figure 12 As shown, the software system functions include: initialization and status monitoring, experimental process selection and parameter setting, data acquisition, data analysis and evaluation, and experimental logs and reports.

[0128] Initialization and status monitoring: By establishing a database of IP address information of wireless transmission module group and acquisition channel information, the corresponding relationship between the two is obtained, and the information is input into the software system to establish multi-channel synchronous acquisition communication with the wireless transmission module;

[0129] This section primarily implements multi-sensor joint communication. The database establishment steps include: first, creating a database file table; then, inputting the IP addresses of each wireless transmission module and the corresponding number of acquisition channels to complete data entry; next, registering all acquisition channels, similar to address registration (but using a different database); and finally, registering the specific acquisition data for each channel. This involves reading the address and channel name into two enumerations, selecting the wireless transmission module and the channel corresponding to the address, and inputting the specific channel information to complete data entry. A single IP address can correspond to multiple channels, but a single channel can only select one IP address. Status monitoring is further enhanced by the system determining the status of the transfer mechanism and issuing prompts and alarms.

[0130] Test process selection and parameter setting: The test process selection completes different process stages such as unlocking, leveling, lowering, releasing, and retraction. Individual or combined tests can also be conducted on each process. The parameter setting realizes the test tasks of the transfer mechanism in four attitudes: nominal, backward tilt, forward tilt, and side tilt. This includes setting parameters such as release speed, lander attitude pitch and roll angle, linkage rope pretension, and rover mass center of mass.

[0131] Data Acquisition: This mainly involves functions such as channel calibration, adaptive data sampling and processing, graphical and data display, and data parameter setting. ① Channel calibration: By comparing multiple sets of actual and test values, the calibration correction relationship of each channel sensor is calculated and recorded. ② Based on pre-imported simulation data, data characteristics are analyzed, and the sampling and storage frequency of the data is adaptively adjusted to increase the data density at key moments or stages of the experiment, while reducing the data density of smooth changes to save storage space and achieve adaptive acquisition. ③ Image and data display is completed. ④ During the process of saving the acquired data, the set parameters are also saved in each channel for convenient subsequent data processing.

[0132] Data Analysis and Evaluation: Based on theoretical analysis and simulation data, the relevant experimental data is analyzed and conclusions are drawn. On the one hand, single-factor regularity results of individual variables on key measurement parameters under experimental conditions and working conditions of the transfer mechanism are obtained, such as the influence curves and explanations of different lander pitch angles on the tension of the release rope. On the other hand, parameter coupling orthogonal test tables are generated based on the key experimental parameters and working condition experimental parameters of the transfer mechanism, and multi-factor orthogonal test schemes are provided. Through multi-factor orthogonal test, multi-factor horizontal trend diagrams can be obtained, and the combined parameters of the maximum possible influence of the measurand (such as maximum load) during the transfer mechanism test process can be obtained. Finally, through comparative analysis with simulation data, combined with the analysis of single-factor and multi-factor test results, the rationality of the transfer mechanism test data, the influence of single factors on the measurand during the experimental process, and the maximum possible influence of multiple factors on the measurand can be evaluated.

[0133] Experiment Logs and Reports: Generates experimental logs detailing the actions, times, and statuses throughout the entire experiment; generates experimental reports based on experimental requirements and relevant experimental data.

[0134] Implementation Method Nine: A wireless test acquisition and evaluation method for a rover transfer mechanism based on the system described above, the method comprising:

[0135] S1. Run the host PC system; complete the initialization of system hardware and communication tests;

[0136] S2. The transfer mechanism slow-release drive device is powered on, the lander is prepared, the slow-release drive device and the rover electromagnetic locking device are powered off and locked, and the quality preparation of the rover prototype is completed.

[0137] S3. According to the test requirements, set the parameters, including the working condition control parameters, input range and key test parameters, and adjust and monitor the working condition of the transfer mechanism.

[0138] S4: Real-time testing, data recording, angle status monitoring, and real-time data display;

[0139] S5. Data tables and curves display data storage and experimental log records;

[0140] S6. Data analysis, experimental evaluation, and experimental report.

[0141] In this embodiment, by combining hardware and software, and based on the characteristics of the transfer mechanism of the patrol vehicle, the transfer characteristic test of the transfer mechanism can be completed simply and conveniently. This includes testing the deployment and transfer functions of the transfer mechanism in four postures: nominal, backward tilt, forward tilt, and side tilt. Based on the static and dynamic simulation results of the transfer mechanism, key parameters such as drive component parameters, rope tension curves, angles, and strain at different positions of the mechanism are collected during the process. Single-factor test plans are automatically generated based on the key parameters, and single-factor analysis is performed to verify the correctness of the functional design principle, component matching, and correctness of the transfer mechanism. Multi-factor orthogonal test plans are automatically generated based on the key parameters to obtain the maximum impact load during the movement of the transfer mechanism, further identifying design deficiencies and providing a basis for product design improvement and refinement.

[0142] Implementation Method Nine: This implementation method further defines the wireless test acquisition and evaluation method for a patrol vehicle transfer mechanism described in Implementation Method Nine. In this implementation method, S1 is further defined, and S1 includes:

[0143] S1.1 Create a new tdms database file table IPAdress, and input the IP address of each group of wireless transmission modules and the corresponding number of sensor acquisition channels;

[0144] S1.2 Complete the registration of all channels;

[0145] S1.3 Complete the registration of specific information for each channel, read the IP address and channel name into two enumerations, select the channel corresponding to the IP address, and enter the specific information of the channel corresponding to that channel; the same IP can correspond to multiple channels, but a channel can only select one IP;

[0146] S1.4 Establish TCP listening between the host software system and the wireless transmission module, and establish a multi-address TCP synchronous connection by using the wireless transmission module IP registered in S1.1, S1.2 and S1.3 and collecting channel information.

[0147] In this embodiment, on the one hand, the stability and reliability of channel data transmission can be guaranteed, and on the other hand, the multi-address TCP synchronous connection enables synchronous data acquisition that is highly matched with the experimental process.

[0148] Implementation method ten is a further limitation on the wireless test acquisition and evaluation method for a patrol vehicle transfer mechanism described in implementation method nine. In this implementation method, S4 is further defined, and S4 specifically includes:

[0149] S4.1 Complete the simulation calculation of key parameters based on the sensor layout;

[0150] S4.2. Extract simulation data features from the simulation data and establish a regular acquisition frequency;

[0151] The key steps in the acquisition process are determined, specifically including: the acquisition density in the left and right neighborhoods of extreme points is much greater than that of other locations, and the acquisition density in the left and right neighborhoods of slope change points is much greater than that of other locations. The acquisition frequency is adjusted simultaneously by controlling the multi-path synchronous communication established through S1.

[0152] S4.3. Based on the settings in S3, the operating condition parameters, key test parameters, and their input ranges are set. Within the input range of the operating condition parameters, the operating conditions are divided into one of the following: equal intervals, bisecting intervals, golden section intervals, and Fibonacci intervals. For each operating condition parameter, a single-factor test plan and table are automatically generated. When the operating condition parameter range is large and the standard operating condition is unknown, the bisecting interval is used. When the measurement system has high accuracy requirements and the key parameter curve is unimodal, the golden section interval is used. When the operating condition parameter values ​​are integers or a finite number, the Fibonacci interval is used. Under normal conditions, equal intervals are used.

[0153] S4.4. Based on the single-factor test plan generated in S4.3, determine the number of factors and levels of operating parameters and key parameters, establish orthogonal relationships, and generate the relevant orthogonal table L based on orthogonality. n (a) p (), where P is the number of columns in the orthogonal array, n is the number of rows in the orthogonal array, and a is the number of levels; multi-factor test schemes and multi-factor orthogonal test tables are generated through orthogonal tables and operating parameters and key parameters; the data after the test can scientifically reflect the influence of multiple factors on the key parameters of the transfer mechanism during the test.

[0154] S4.5 Read all sensor acquisition channels in S1 and extract the specific information of each channel; complete the channel calibration test, input the actual and test values ​​of multiple sensors into the data acquisition module of the software system, calculate the curve coefficients K and B between the actual and test values, and input the results into the database; automatically calibrate the multi-channel sensor data based on the curve coefficients K and B in the database.

[0155] S4.6 Input the simulation data according to the registered channel name, and adaptively adjust the sensor acquisition frequency based on the characteristics of the simulation data curve.

[0156] In this embodiment, the data acquisition density is determined by analyzing simulation data, which can efficiently utilize storage space, reduce data volume, and greatly improve data processing efficiency. Through single-factor and multi-factor analysis, a scientific and reasonable test plan is given, which facilitates the scientific and effective evaluation of the test data of the transfer mechanism after the experiment.

[0157] Implementation method eleven, this implementation method is a specific embodiment of the wireless test acquisition and evaluation method for a patrol vehicle transfer mechanism as described above, including:

[0158] like Figure 9 As shown, a wireless test, acquisition, and evaluation system for a rover's transfer mechanism includes measurement sensors, a wireless transmission module, a host computer, and a data acquisition, analysis, and evaluation system. The wireless transmission module consists of a wireless receiving module and a wireless acquisition module. The host computer is connected to both the lander controller and the wireless transmission module. The data acquisition, analysis, and evaluation system is deployed within the host computer, controlling the lander's actions and interacting with the sensors via the wireless transmission module.

[0159] The measuring sensors are mainly divided into S101~S103 tension sensors, F201~F205 strain gauges, A301~A303 angle sensors, and T401~T403 torque sensors. These are used as measuring devices to measure relevant experimental data, such as… Figure 10 As shown, sensors are positioned at key locations on the transfer mechanism: S101 measures the tension of the release rope; S102 and S103 measure the tension of linkage ropes A and B; F201-F205 measure the stresses of the tilting arm, transfer bracket, locking mechanism, support A, and support B, respectively; A301-A303 measure the pitch and roll angles of the rover, lander, and frame during the transfer process, respectively; T401 measures the torque of the tilting arm; and T402 and T403 measure the bending moments of support A and support B of the transfer frame. The test sensors are connected to a wireless acquisition module and interact with the host computer via a wireless transmission module.

[0160] like Figure 11 As shown, the wireless test acquisition and evaluation system for the transfer mechanism of the above-mentioned patrol vehicle includes the following steps in its operation;

[0161] S1. The test bench is ready; the host computer PC system is running; the system hardware initialization and communication tests are completed.

[0162] S1.1 Create a new tdms database file table IPAdress. Input the IP addresses of each group of wireless transmission modules and the corresponding number of sensor acquisition channels, such as: 3-channel tension wireless transmission module, 3-channel angle wireless transmission module, etc., to complete the data entry.

[0163] S1.2 Complete the registration of all channels. The process for S101, S102, S103, etc., is similar to the registration in S1.1 (the database is different).

[0164] S1.3. Complete the registration of specific information for each channel. Read the IP address and channel name into two enumerations, select the channel corresponding to the IP address, and enter the specific information for that channel. The same IP can correspond to multiple channels, but a channel can only select one IP. For example, rope tension channels S101, S102, and S103 correspond to the IPs of the 3-channel tension wireless transmission module. Finally, input the data into the database.

[0165] S1.4 Establish TCP listening between the host software system and the wireless transmission module, and establish a multi-address TCP synchronous connection by using the wireless transmission module IP registered in S1.1, S1.2, and S1.3 and collecting channel information.

[0166] S2. Power on the transfer mechanism's slow-release drive unit, complete lander preparation, slow-release drive unit, de-energize and lock the rover's electromagnetic locking device, and prepare the rover prototype for quality control.

[0167] S3. Set parameters according to the test requirements, including tension preload, lander pitch angle, tilt angle, test process speed parameters, and the position of the prototype's center of gravity, as well as the input range. Adjust the transfer mechanism's operating conditions, such as: the standard test conditions are a release motor drive frequency of 350Hz, a preload of 400N on both sides of the linkage rope, and a lander pitch and tilt angle of 0°. Key test parameters include release rope tension, linkage rope tension, and rover pitch angle. All operating conditions are based on... Figure 10 The sensors adjust and monitor the operating conditions of various parts of the test bench.

[0168] S4. Start the test (test process control): Real-time testing, data recording, angle status monitoring, and real-time data display. The test process is mainly divided into the rover unlocking process (unlocking), deployment process (lifting), transfer process (lowering), rover detachment process (release), and transfer mechanism reset (recovery). For each individual process and the overall process, key parameters such as rope tension curves, rover mechanism frame lander angle, and position strain of the main load-bearing components of the mechanism are acquired under each working condition.

[0169] S4.1. Based on the sensor layout, complete the simulation calculation of key parameters, such as rope tension curve, angle change, and strain curves at different positions of the mechanism.

[0170] S4.2 Extract simulation data features, such as extreme values, slope, and quantity, from the simulation data. Establish a regular sampling frequency based on the quantity.

[0171] The system identifies key steps in the data acquisition process, such as extreme points where the acquisition density in the neighborhood to the left and right is much higher than at other locations, or points where the slope changes abruptly where the acquisition density in the neighborhood to the left and right is much higher than at other locations. The system then controls the acquisition frequency to be adjusted simultaneously via multi-channel synchronous communication established by the host computer through S1.

[0172] S4.3. Based on the settings in S3, including the operating condition parameters, key experimental parameters, and their input ranges, divide the operating conditions within the parameter input range into one of the following intervals: equal interval, bisecting interval, golden ratio interval, or Fibonacci interval. Automatically generate single-factor experimental plans and tables for each operating condition parameter. Use the bisecting interval when the operating condition parameter range is large and the standard operating condition is unclear; use the golden ratio interval when the measurement system requires high accuracy and the key parameter curve is unimodal; use the Fibonacci interval when the operating condition parameter values ​​are integers or a finite number; and use equal intervals under normal conditions.

[0173] S4.4. Based on the single-factor test plan generated in S4.3, determine the number of factors and levels of operating parameters and key parameters, establish orthogonal relationships, and generate the relevant orthogonal table L based on orthogonality. n (a) p (P is the number of columns in the orthogonal array, n is the number of rows in the orthogonal array, and a is the number of levels). A multi-factor experimental scheme and a multi-factor orthogonal experimental table are generated using the orthogonal array, operating parameters, and key parameters. This scheme can generate factor level trend charts and obtain the maximum key parameter and its acquisition conditions from the factor generation trend charts. The orthogonal relationship is reflected in the uniform distribution of the number of levels in each column of the orthogonal array, with equal frequency of occurrence; any two columns in the orthogonal array are neatly comparable, and each pair of level numbers occurs equally. This achieves the goal of reducing the number of experiments while ensuring accurate experimental verification.

[0174] S4.5 Read all sensor acquisition channels from S1 and write them into the system, extracting specific channel information. Complete the channel calibration test, inputting the actual and test values ​​of multiple sensors into the software system's data acquisition module, calculating the curve coefficients K and B between the actual and test values, and inputting the results into the database. Automatically calibrate the multi-channel sensor data based on the curve coefficients K and B in the database. The test values ​​are derived from the standard analog signal values ​​output by the sensors in their natural state before installation, while the actual values ​​refer to the actual analog signal values ​​output by the sensors in the test system.

[0175] S4.6 inputs simulation data according to the registered channel name, adaptively adjusts the sensor acquisition frequency based on the characteristics of the simulation data curve, increases the acquisition density at key locations, and improves accuracy to complete data acquisition and display. During the data saving process, the set parameters are also saved to each channel for convenient subsequent data processing.

[0176] S5. Complete the experiment (human-computer interaction), data tables, curve display data storage, and experiment log recording. Human-computer interaction includes experimenters setting and adjusting the experimental conditions through experimental parameters, generating experimental plans through parameter input, and controlling the experimental process through the software interface.

[0177] S6. Data Analysis, Experiment Evaluation, Experiment Report

[0178] S6.1. Based on the single-factor test plan generated in S4.3, perform single-factor analysis of key parameters. 1. Display the correspondence between key parameters and the test actions of the transfer mechanism under different working conditions, such as the correspondence between the Ft curves of the release rope tension S101, linkage rope tension S102, and S103 under different mass conditions and the test process of the transfer mechanism in S4. 2. Display the change curves of key parameters and their corresponding relationships under single-variable working conditions, such as the comparison and correspondence of the influence curves of the lander pitch attitude on S101, S102, and S103, and the comparison and correspondence of the influence curves of the linkage rope preload on S101, S102, and S103.

[0179] S6.2. Based on the multi-factor test plan generated in S4.4, perform multi-factor analysis of key parameters. 1. Display the multi-factor horizontal trend charts of the transfer mechanism for key parameters, such as the four-factor five-level trend charts of key parameters S101, S102, and S103 regarding release speed, linkage rope preload, tilt angle, and pitch angle. 2. Calculate the maximum impact load of the transfer mechanism based on the horizontal trend charts obtained from the multi-factor test.

[0180] The system and method of this invention, through a combination of hardware and software, can easily and conveniently complete transfer characteristic tests of the transfer mechanism based on its characteristics. This includes testing the deployment and transfer functions of the transfer mechanism in four postures: nominal, backward tilt, forward tilt, and side tilt. Based on the static and dynamic simulation results of the transfer mechanism, key parameters such as drive component parameters, rope tension curves, angles, and strain at different positions of the mechanism are collected during the process. Single-factor test schemes are automatically generated based on these key parameters, and single-factor analysis is performed to verify the correctness of the transfer mechanism's functional design principles, component compatibility, and correctness. Furthermore, multi-factor orthogonal test schemes are automatically generated based on the key parameters to obtain the maximum impact load during the transfer mechanism's movement, further identifying design deficiencies and providing a basis for product design improvement and refinement.

[0181] The wireless test acquisition and evaluation system and method for the transfer mechanism of the patrol vehicle described herein can fully complete the entire test process of the transfer mechanism's deployment and transfer in four attitudes: nominal, backward tilt, forward tilt, and side tilt. It rationally designs and lays out the sensor acquisition modules to collect key parameters such as drive component parameters, rope tension, angle, and strain at different positions of the mechanism during the test. Based on simulation data, it can reasonably adjust the data density to accurately and efficiently complete data processing, preprocessing and storing the corresponding data of key measurands under various experimental parameters and test conditions. It can perform single-factor analysis between relevant parameters by comparing the acquired data with simulation results, generate parameter-coupled orthogonal test tables based on the key test parameters and test conditions of the transfer mechanism, and provide multi-factor orthogonal test schemes. Through multi-factor orthogonal test testing and result analysis, it can obtain multi-factor horizontal trend diagrams and obtain the combined parameters of the maximum possible influence of the measurand (such as maximum load) during the transfer mechanism test process. Through comparative analysis of test data and simulation data, combined with single-factor and multi-factor test analysis results, it can provide an assessment of the data rationality of the transfer mechanism test, the influence of single factors on the measurand during the experimental process, and the maximum possible influence of multiple factors on the measurand. It is applicable to the testing of the transfer mechanism of the patrol vehicle. It can accurately and conveniently complete the key parameter testing, collection and evaluation functions of the entire process of the transfer characteristic test of the transfer mechanism. It can evaluate the rationality of the test data under the test conditions of the transfer mechanism, the law of the test parameters, and the performance status of the test parts. It can verify the correctness of the design principle of the transfer mechanism, the rationality and matching of the component design, and provide sufficient data basis for further discovering design deficiencies and improving the product design.

[0182] A lunar rover equivalent mass simulation device includes the following embodiments:

[0183] See Figure 13-21 This embodiment describes an equivalent mass simulation device for a lunar rover, comprising a frame structure 12, a counterweight system 14, and a counterweight system 13. The counterweight system 13 is fixed inside the frame structure 12 and includes counterweight blocks. By adjusting the weight and position of the counterweight blocks, the position of the counterweight and the center of mass can be simulated. The counterweight system 14 is fixed to the frame structure 12 and its height can be adjusted to simulate the corresponding mass and center of mass.

[0184] The lunar rover's equivalent mass simulation device adopts a frame structure, with the same center of mass and frame size as the real rover.

[0185] The short rods of the frame structure 12 require reinforcement at their connections with other structures to prevent deformation. This invention adds vertical support rods to the middle of the left and right rear sides of the frame structure to enhance longitudinal strength, and adds cross-shaped reinforcement rods at the bottom to prevent bottom deformation.

[0186] The frame structure 12 is composed of aluminum alloy square bars connected by connectors. The square bars are connected to each other by aluminum alloy corner brackets.

[0187] The counterweight system 14 includes a plurality of wheels 25 and a frame. The wheels 25 are connected to the frame. The frame includes a plurality of square members, connectors, and rotating joints. The square members are connected to the rotating joints via connectors, and the square members are connected to the wheels 25. This invention features three wheels 25 and three rotating joints on one side, which respectively adjust the height and posture of the wheels 25.

[0188] The fastening bolt 26 is installed on the wheel mounting seat 27, which has multiple positions. The fastening bolt 26 is used to adjust the positions, thereby adjusting the height of the wheel system.

[0189] The square material is connected to the shaft 32 or other square material via an adapter. The wheel 25 is made as a whole by 3D printing and is screwed onto the rotatable wheel mounting seat 27.

[0190] The folding and unfolding of the frame achieves the folding and unfolding effects. The height is lowest when folded and highest when unfolded. The state transition can be achieved by manually adjusting the fastening bolt 26, and the corresponding mass center of mass simulation can be performed separately.

[0191] like Figure 18-19 As shown, Figure 18 This is a diagram showing the wheels being lowered. Figure 19 This is a diagram showing the wheels retracting.

[0192] The counterweight system 13 includes a counterweight block, a counterweight mounting rod 20, a counterweight mounting plate 21, and several counterweight mounting bolts 22. The counterweight mounting rod 20 is fixed to the upper part of the frame structure 12, and the counterweight mounting plate 21 is fixed to the counterweight mounting rod 20. Three evenly distributed holes are opened along the central axis of the counterweight mounting plate 21. Three counterweight mounting bolts 22 are installed on the counterweight mounting plate 21, each used to install a counterweight block. The counterweight block is fixed by nuts and sleeves.

[0193] The counterweight mounting plate 21 is a waist-shaped grooved aluminum plate.

[0194] The counterweight system 13 also includes a support column 17, the top of which is connected to a support plate 16 mounted on a counterweight mounting rod 20, and the bottom of which is connected to a cross reinforcing rod.

[0195] To further counteract the effects of the counterweight on the frame structure 12 and the deformation of the counterweight mounting rod 20, a support column 17 is erected at the center of the bottom reinforcing cross rod to hold the counterweight mounting rod 20 in place.

[0196] To simulate the equivalent mass of the lunar surface, counterweights are added to the mounting bolts 12 of the counterweight system 13 to make the mass match.

[0197] In order to simulate the center of mass and torque, the position of the center of mass is changed by adjusting the mounting bolt 12 where the mass block is located and the position on the bolt.

[0198] The counterweight of the lunar rover's equivalent mass simulation device has three modes: nominal weight (1.0), 1.2 times the nominal weight, and 1.5 times the nominal weight. The specific weight distribution is shown in Table 1.

[0199] Table 1 Installation status of three types of mating

[0200]

[0201] A, B, and C represent the three combinations of counterweights for each gear position. Specific values ​​are not listed, but after combination, the center of mass and moment of inertia meet the system requirements.

[0202] The centroid error ratio is the ratio of the difference between the technically required centroid position and the simulated centroid position to the shortest dimension (length, width, height) of the rover.

[0203] The simulation results meet the error range required by the experiment and can realistically simulate the mass, center of mass and moment of inertia of the lunar rover, providing a real and effective test object for ground testing.

[0204] The specific operation process of the lunar rover equivalent mass simulation device:

[0205] (1) First, use computer simulation software to simulate the center of mass, and then plan the experiment.

[0206] (2) Install the counterweights in sequence according to the experimental procedure and the counterweight method under different mass multiples.

[0207] (3) Perform pitch state tests under different weights according to the experimental requirements to verify the position of the center of mass.

[0208] (4) Test the position of the center of gravity of the wheel at different heights.

[0209] (5) Adjust the installation of the counterweight according to the experimental results.

[0210] The aforementioned planetary rover equivalent mass simulation device first uses computer simulation software to simulate the mass and center of mass, then conducts experimental planning to simulate the lunar equivalent mass of the prototype rover, assisting in the transfer mechanism transfer characteristic test. It can simulate the actual dimensions of the rover, as well as its equivalent mass, equivalent center of mass, and moment of inertia under lunar conditions. It can simulate the rover's mass and center of mass position on the lunar surface, providing a more realistic simulation object for the design of the transfer mechanism and the Earth's surface, and allows for adjustment of multiple mass levels. The frame structure is specifically optimized. Due to the load counterweight, a simple 12-bar frame cannot bear excessive weight and is prone to deformation at 1.2 and 1.5 times the standard weight, causing the center of mass to shift and resulting in significant errors in the experimental results. Therefore, this invention adds vertical support rods to the left, right, rear, and middle parts of the frame structure to strengthen longitudinal strength. A cross-shaped reinforcing rod is added to the bottom to prevent deformation. The front needs to be fixed to the transfer mechanism, which places certain structural requirements; therefore, a horizontal bar and two short longitudinal rods are added to the front for support. To further offset the effects of the counterweight on the frame structure and the deformation of the center-of-gravity mounting rod, a supporting column is erected at the center of the bottom reinforcing cross to hold the center-of-gravity mounting rod in place. This invention uses ANSYS simulation software to obtain the deformation of the simulated vehicle's overall structure under 1.5 times its nominal weight, obtaining the deformation under both horizontal and vertical placement. The optimized structure shows a significant reduction in deformation. The patrol vehicle's wheels are height-adjustable, allowing for corresponding mass center-of-gravity simulations. The wheel system consists of wheels, rotating joints, and a connecting frame. To achieve various wheel heights and ensure all three wheels are on the same horizontal plane, three rotating joints are designed to adjust the wheel height and attitude.

[0211] The embodiments of the present invention disclosed above are merely illustrative of the invention. These embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. A planetary rover transfer and release device, characterized in that: It includes a release rope (3), a boom (6), a swing arm (9), and an attitude control rope (10). One end of the swing arm (9) is rotatably connected to the side wall of the lander (11), and the other end of the swing arm (9) is provided with an attitude control hinge (4). One end of the boom (6) is connected to the attitude control hinge (4), and the other end is connected to the rover (8). One end of the attitude control rope (10) is connected to the lander (11), and the other end passes around the attitude control hinge (4). The release rope (3) is wound on the release rope wheel (2), which is located on the side wall of the lander (11). The release rope (3) is connected to the boom (6). The rover (8) is connected to the side wall of the lander (11) through a first locking mechanism (1). There are multiple first locking mechanisms (1), which are located at multiple corners of the rover (8). The first locking mechanism (1) is an electromagnetic locking mechanism. The rover (8) is connected to the boom (6) through a second locking mechanism (5). The second locking mechanism (5) is a mechanical locking mechanism. The mechanical locking mechanism is a C-shaped structure that encloses each other. The boom (6) is connected to the rover (8) through a damping hinge (7). The boom (6) is an L-shaped structure. The rover (8) is located inside the L-shaped structure. The attitude control hinge (4) is provided with a grooved cam structure. The bottom of the slow-release rope wheel (2) is provided with an elastic gripper.

2. A method for transferring and releasing a planetary rover transfer and release device as described in claim 1, characterized in that: In the initial state of the transfer, the rover (8) and the pendulum (9) are locked to the side wall of the lander (11). When the transfer begins, the pendulum (9) is released by the release rope (3). The pendulum (9) carries the rover (8) and swings. Since the rover (8) and the boom (6) are mechanically locked, the rover (8) does not rotate around the center of mass in the initial stage of the transfer. When the rover (8) and the boom (6) are unlocked, the rover (8) rotates around the damped hinge (7) under the action of the gravitational torque of the center of mass. Under the action of damping and limiting, the rover (8) and the boom (6) are in a relatively stationary position after the rotation. The pendulum (9) continues to rotate, transferring the rover (8) to the planetary surface.

3. A wireless test acquisition and evaluation system for the planetary rover transfer and release device as described in claim 1, characterized in that, The system includes: a sensor acquisition module, a wireless transmission module, and a host computer PC system; The sensor acquisition module is used to collect test data of the transfer mechanism, and includes several sensors, which are respectively arranged in corresponding parts of the transfer mechanism. The wireless transmission module is used to realize the wireless transmission of signals and data between the host computer PC system and the sensor acquisition module; The host PC system is used to control the sensors, transmission system and transfer mechanism, as well as to collect, process and evaluate test results. Specifically, it includes: initialization and status monitoring, test process selection and parameter setting, data acquisition, data analysis and evaluation, and test logs and reports. The initialization and status monitoring are used to enable joint communication among the various sensors, and also to determine the status of the transfer mechanism for prompting and alarming. The test process selection and parameter setting are used to select different process stages such as unlocking, leveling, lowering, releasing or retrieving, and to conduct individual or combined tests on each process; the parameter setting realizes the test tasks of the transfer mechanism under different attitudes, and the parameters include slow release speed, lander attitude pitch and roll angle, linkage rope pretension force and visual instrument mass center of mass. The data acquisition is used to complete channel calibration, adaptive data sampling processing, graphic and data display, and data parameter setting; The data analysis and evaluation are used to analyze relevant experimental data and draw conclusions based on theoretical analysis and simulation data. Specifically, this includes: obtaining the single-factor regularity results of individual variables of the experimental conditions and working conditions of the transfer mechanism on key measurement parameters; generating parameter coupling orthogonal experimental tables based on the key experimental parameters and working condition experimental parameters of the transfer mechanism, and providing multi-factor orthogonal experimental schemes; obtaining multi-factor level trend diagrams through multi-factor orthogonal experimental testing, and obtaining the combined parameters of the maximum possible influence of the measurand during the transfer mechanism test process; and obtaining the data rationality of the transfer mechanism test, the influence of single factors on the measurand during the experimental process, and the maximum possible influence of multiple factors on the measurand through comparative analysis with simulation data and analysis of single-factor and multi-factor experimental results.

4. The wireless test acquisition and evaluation system for a planetary rover transfer and release device according to claim 3, characterized in that: The sensor acquisition module includes patch-type strain sensors, tension sensors, angle sensors, and torque sensors. The test data includes stress, strain, tension, pressure, and angle. The sensors are respectively arranged at corresponding locations on the transfer mechanism. Specifically, the tension sensors are used to acquire the tension of the release rope of the suspension transfer mechanism and the tension of the attitude adjustment rope for adjusting the attitude of the probe, and are respectively arranged at the connection between the release rope and the swing arm of the flipping mechanism, and at the midpoint of the attitude adjustment rope between the rotating hinge and the linkage mechanism of the transfer mechanism; the patch-type strain sensors are used to acquire the strain at key structural locations of the transfer mechanism, and are respectively arranged on the rotating hinge and linkage mechanism of the main swing frame. The sensors are located at the midpoint, the connection support between the lower rotating hinge and the lander, the connection between the locking mechanism and the lander, and the midpoint of the swing arm; the angle sensors are used to acquire the rover's pitch angle, the lander's attitude angle, and the transfer mechanism's tilt angle, and are respectively arranged on the side of the lander where the transfer mechanism is not installed, on the horizontal plane above the rover, and at a non-interference point on the surface where the transfer mechanism is installed on the rover; the torque sensors acquire the torque at key structural positions of the transfer mechanism, and are respectively arranged at the lower hinge axis of the transfer mechanism and the upper tilting mechanism's swing axis. The wireless transmission of signals and data between the host PC system and the sensor acquisition module specifically includes: based on the sensors... The number and types of sensors in the acquisition module are determined, and a multi-channel synchronous acquisition communication method is established. The method for achieving joint communication among these sensors specifically includes: establishing a database of IP address information for the wireless transmission module group and acquisition channel information, obtaining the correspondence between the two, and establishing multi-channel synchronous acquisition communication with the wireless transmission module; the database establishment steps include: creating a database file table, inputting the IP address of each wireless transmission module and the corresponding number of acquisition channels to complete data entry; registering all acquisition channels; registering the specific acquisition data for each channel; reading the address and channel name into two enumerations, and selecting the wireless transmission module and the channel corresponding to the address. Input the specific information corresponding to the channel to complete the data entry; the same IP can correspond to multiple channels, but only one IP can be selected for each channel. The process of completing channel calibration, adaptive data sampling processing, graphic and data display, and data parameter setting specifically includes: Channel calibration, which calculates the calibration correction relationship of each channel sensor by comparing multiple sets of actual values ​​and test values, and records and stores the results; Adaptive data sampling processing, which analyzes data characteristics based on pre-imported simulation data and adaptively adjusts the data sampling and storage frequency; and Data parameter setting, which saves the set parameters in each channel simultaneously during the data acquisition process.

5. A wireless test acquisition and evaluation method for a planetary rover transfer and release device based on the system described in claim 3 or 4, characterized in that: The method includes: S1. Run the host PC system; complete the initialization of system hardware and communication tests; S2. The transfer mechanism slow-release drive device is powered on, the lander is prepared, the slow-release drive device and the rover electromagnetic locking device are powered off and locked, and the quality preparation of the rover prototype is completed. S3. According to the test requirements, set the parameters, including the working condition control parameters, input range and key test parameters, and adjust and monitor the working condition of the transfer mechanism. S4: Real-time testing, data recording, angle status monitoring, and real-time data display; S5. Data tables and curves display data storage and experimental log records; S6. Data analysis, experimental evaluation, and experimental report.

6. The wireless test acquisition and evaluation method for a planetary rover transfer and release device according to claim 5, characterized in that: S1 specifically includes: S1.1 Create a new tdms database file table IPAdress, and input the IP address of each group of wireless transmission modules and the corresponding number of sensor acquisition channels; S1.2 Complete the registration of all channels; S1.3 Complete the registration of specific information for each channel, read the IP address and channel name into two enumerations, select the channel corresponding to the IP address, and enter the specific information of the channel corresponding to that channel; the same IP can correspond to multiple channels, but a channel can only select one IP; S1.4 Establish TCP listening between the host software system and the wireless transmission module, and establish a multi-address TCP synchronous connection by using the wireless transmission module IP registered in S1.1, S1.2 and S1.3 and collecting channel information.

7. The wireless test acquisition and evaluation method for a planetary rover transfer and release device according to claim 6, characterized in that: S4 specifically includes: S4.1 Complete the simulation calculation of key parameters based on the sensor layout; S4.

2. Extract simulation data features from the simulation data and establish a regular acquisition frequency; The key steps in the acquisition process are determined, specifically including: the acquisition density in the left and right neighborhoods of extreme points is much greater than that of other locations, and the acquisition density in the left and right neighborhoods of slope change points is much greater than that of other locations. The acquisition frequency is adjusted simultaneously by controlling the multi-path synchronous communication established through S1. S4.

3. Based on the settings in S3, the operating condition parameters, key test parameters, and their input ranges are set. Within the input range of the operating condition parameters, the operating conditions are divided into one of the following: equal intervals, bisecting intervals, golden section intervals, and Fibonacci intervals. For each operating condition parameter, a single-factor test plan and table are automatically generated. When the operating condition parameter range is large and the standard operating condition is unknown, the bisecting interval is used. When the measurement system has high accuracy requirements and the key parameter curve is unimodal, the golden section interval is used. When the operating condition parameter value is an integer, the Fibonacci interval is used. Under normal conditions, equal intervals are used. S4.

4. Based on the single-factor test plan generated in S4.3, determine the number of factors and levels of operating parameters and key parameters, establish orthogonal relationships, and generate the relevant orthogonal table L based on orthogonality. n (a p ), where P is the number of columns in the orthogonal array, n is the number of rows in the orthogonal array, and a is the number of levels; multi-factor test schemes and multi-factor orthogonal test tables are generated through orthogonal tables and operating condition parameters and key parameters; S4.5 Read all sensor acquisition channels in S1 and extract the specific information of each channel; complete the channel calibration test, input the actual and test values ​​of multiple sensors into the data acquisition module of the software system, calculate the curve coefficients K and B between the actual and test values, and input the results into the database; automatically calibrate the multi-channel sensor data based on the curve coefficients K and B in the database. S4.6 Input the simulation data according to the registered channel name, and adaptively adjust the sensor acquisition frequency based on the characteristics of the simulation data curve.

8. A planetary rover equivalent mass simulation device for use in the planetary rover transfer and release device as described in claim 1, characterized in that: The system includes a frame structure (12), a wheel system (14), and a counterweight system (13). The counterweight system (13) is fixed inside the frame structure (12). The counterweight system (13) includes counterweight blocks. By adjusting the weight and position of the counterweight blocks, the position of the counterweight and the center of mass can be simulated. The wheel system (14) is fixed on the frame structure (12). The wheel system can adjust its height to simulate the corresponding center of mass.

9. A planetary rover equivalent mass simulation device for a planetary rover transfer and release device according to claim 8, characterized in that: The wheel system (14) includes several wheels (25) and a frame. The wheels (25) are connected to the frame. The frame includes several square members, connectors, and rotating joints. The square members are connected to the rotating joints through the connectors. The square members are connected to the wheels (25). The wheel system (14) also includes fastening bolts (26). The fastening bolts (26) are installed on the wheel mounting seats (27). The wheel mounting seats (27) are provided with multiple positions. The positions are adjusted by the fastening bolts (26), thereby adjusting the height of the wheel system. The counterweight system (13) also includes a counterweight mounting rod (20), a counterweight mounting plate (21), and several counterweight mounting bolts (22). The counterweight mounting rod (20) is fixed to the upper part of the frame structure (12), and the counterweight mounting plate (21) is fixed to the upper part of the frame structure (12). On the counterweight mounting rod (20), a number of counterweight mounting bolts (22) are installed on the counterweight mounting plate (21). Each counterweight mounting bolt (22) is used to install a counterweight block. The counterweight block is fixed by a nut and a sleeve. The counterweight system (13) has three modes of counterweight: nominal weight, 1.2 times nominal weight, and 1.5 times nominal weight. The counterweight mounting plate (21) is a waist-shaped grooved aluminum plate. The frame structure (12) is made of aluminum alloy square material connected with connectors. A cross reinforcing rod is installed in the bottom frame of the frame structure (12) to prevent bottom deformation. The counterweight system (13) also includes a support column (17). The top of the support column (17) is connected to the support plate (16) installed on the counterweight mounting rod (20), and the bottom is connected to the cross reinforcing rod.

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