Static cone penetration intelligent probe for deep space star catalogue survey in-situ test and testing device

Abstract

The invention discloses a static sounding intelligent probe and a testing device for in-situ testing of deep space star catalogue investigation. A static sounding module of the probe comprises a friction cylinder, a conical tip, a conical tip resistance sensor, a conical shoulder pore pressure sensor and a side wall friction resistance sensor; the temperature probe module comprises a temperature supporting cylinder, upper and lower heat insulation rings, a heating assembly and a temperature sensor. The rotary probe module comprises a rotary supporting cylinder, a rotary motor, a torsion sensor and a rotating speed sensor; the lateral displacement probe module comprises a lateral supporting cylinder, a connecting beam, a lateral displacement motor, a side wall pressure sensor and a lateral displacement sensor; the self-penetration module comprises a telescopic sleeve, an up-down self-expansion mechanism and a telescopic motor; the data acquisition module comprises an acquisition cylinder and a data processor; the power supply module comprises a power supply cylinder and a power supply module I; the device comprises an intelligent probe, a bearing body, a solar cell panel, a positioning assembly and a data processing terminal. The probe and the device can autonomously collect star catalogue multi-dimensional soil parameter data.

Description

Technical Field

[0001] The present invention belongs to the technical field of deep space exploration and intelligent in-situ testing of rock and soil materials, and in particular relates to an intelligent static penetration probe and a testing device for in-situ testing of deep space star surface exploration. Background Art

[0002] Cone penetration testing (CPT) is an in-situ testing technology widely used in the field of geotechnical engineering, but it has certain limitations in practical applications. The existing CPT technology cannot fully reflect the thermophysical parameters of the soil (such as thermal conductivity and heat capacity), and it is difficult to accurately describe the complex mechanical properties of the excavated body (such as dynamic cycle characteristics and lateral bearing capacity). In addition, the traditional penetration device is usually heavy and does not have the ability to penetrate autonomously. During the penetration process, it is necessary to manually connect the probe rod continuously, which has a high labor load and low penetration efficiency. At the same time, the traditional penetration device does not have an autonomous data analysis function. The collected data needs to be transmitted to the data processing terminal on the ground through cables for analysis and processing, which will delay the generation time of the analysis report and cannot generate the analysis report in real time. With the rapid development of aerospace technology, deep space exploration has become one of the important directions for human exploration of the universe. In order to implement in-situ penetration tests on the satellite surface, the penetration device needs to be integrated and lightweight. At the same time, it should have the ability to independently implement the test process and perform data analysis. The existing penetration devices cannot meet the above requirements. Therefore, there is an urgent need to provide a new type of static penetration probe and test device that has self-penetration capability and integrates multiple detection functions. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the present invention provides a static penetration intelligent probe and testing device for in-situ testing of deep space satellite surface exploration. The probe integrates multiple sensors, multiple action execution components and data processors. In this way, the probe itself can have a powerful function of multi-dimensional soil parameter collection and autonomous penetration capability, so that the probe can efficiently, accurately and autonomously complete the measurement of soil mechanical parameters and thermophysical parameters in extreme environments. At the same time, it can autonomously perform analysis and processing operations on monitoring data, which can facilitate the comprehensive acquisition of soil characteristic data, thereby improving the evaluation accuracy and efficiency of geotechnical materials, and helping to promote the rapid development of geotechnical engineering technology in the future. The device has a compact structure as a whole, occupies a small space, has unmanned autonomous operation capabilities, is easy to deploy in a satellite surface environment, and can realize multi-dimensional precise in-situ detection operations in a deep space environment.

[0004] In order to achieve the above-mentioned object, the present invention provides a static penetration intelligent probe for in-situ testing of deep space star surface exploration, including a static penetration module, a connection joint 1, a temperature probe module, a connection joint 2, a rotation probe module, a connection joint 3, a lateral displacement probe module, a connection joint 4, a probe rod extension section, a connection joint 5, a self-penetration module, a connection joint 6, a data acquisition module, a connection joint 7, a power supply module and a connection joint 8; The static penetration module includes a friction cylinder, a cone tip connecting block, an annular permeable stone, a bore pressure connecting block, a cone tip, a cone tip resistance sensor, a cone shoulder bore pressure sensor and a side wall friction resistance sensor; the cone tip connecting block is fixedly installed inside the lower end of the friction cylinder, and the cone tip connecting block includes a top connecting plate and a lower connecting column fixedly connected to the center of the lower end of the top connecting plate, wherein the top connecting plate is sealedly connected to the inner side wall of the friction cylinder, and the lower end of the lower connecting column extends to the lower end of the friction cylinder; the outer diameter of the annular permeable stone is matched with the outer diameter of the friction cylinder, and the aperture of its center hole is matched with the aperture of the lower connecting column, the annular permeable stone is snugly connected to the lower end of the friction cylinder, and is sleeved on the outer side of the lower end of the lower connecting column through the center hole; A pore water chamber is formed between the annular permeable stone, the top connecting plate and the lower connecting column; the pore pressure connecting block is located in the pore water chamber and is installed on the upper end surface of the annular permeable stone; the outer diameter of the large diameter end of the cone tip is adapted to the outer diameter of the annular permeable stone, the large diameter end of the cone tip is snugly connected to the lower end surface of the annular permeable stone, and the center of the large diameter end is fixedly connected to the lower end of the lower connecting column; the cone tip resistance sensor is installed on the top connecting plate to collect the cone tip resistance signal; a plurality of cone shoulder pore pressure sensors are evenly distributed in the pore water chamber and installed on the pore pressure connecting block to collect the cone shoulder pore pressure signal; a plurality of side wall friction resistance sensors are evenly and snugly installed on the inner side wall of the friction cylinder in the circumferential direction to collect the side wall friction resistance signal; The outer diameter of the connecting joint 1 is adapted to the outer diameter of the friction cylinder, and the lower end thereof is coaxially fixedly connected to the upper end of the friction cylinder; The temperature probe module includes a temperature support tube, an upper insulation ring, a lower insulation ring, a heating assembly and a temperature sensor; the outer diameter of the temperature support tube is adapted to the outer diameter of the friction tube, and its lower end is coaxially fixedly connected to the upper end of the connecting joint; the outer diameters of the upper insulation ring and the lower insulation ring are adapted to the inner diameter of the temperature support tube, and are respectively fixedly installed at the upper end and the lower end of the temperature support tube; the heating assembly is located between the upper insulation ring and the lower insulation ring, and is circumferentially attached to the inner wall of the temperature support tube; a plurality of temperature sensors are evenly installed on the heating assembly; The outer diameter of the connecting joint 2 matches the outer diameter of the temperature support tube, and the lower end thereof is coaxially fixedly connected to the upper end of the temperature support tube; The rotating probe module includes a rotating support cylinder, a rotating motor, a torque sensor and a speed sensor; the outer diameter of the rotating support cylinder is adapted to the outer diameter of the friction cylinder, and the lower end thereof is gap-matched with the upper end of the connecting joint 2; the rotating motor is a through-shaft motor, which is fixedly installed at the center of the rotating support cylinder, the output shaft of the rotating motor is located in the central area of ​​the rotating support cylinder, and the two ends of the output shaft extend to the upper end and the lower end of the rotating support cylinder respectively, and at the same time, the lower end of the output shaft of the rotating motor is coaxially fixedly connected to the upper end of the connecting joint 2; the torque sensor and the speed sensor are connected to the output shaft of the rotating motor, and are respectively used to collect the torque signal and the speed signal of the rotating motor; The outer diameter of the connecting joint three is adapted to the outer diameter of the rotating support cylinder, the lower end of the connecting joint three is clearance-matched with the upper end of the rotating support cylinder, and is fixedly connected to the upper end of the output shaft of the rotating motor; The lateral displacement probe module includes a lateral support tube, a connecting beam, a lateral displacement motor, a side wall pressure sensor and a lateral displacement sensor; the outer diameter of the lateral support tube is adapted to the outer diameter of the friction tube, and its lower end is gap-matched with the upper end of the connecting joint three; the connecting beam is coaxially arranged inside the lateral support tube, and its lower end is coaxially fixedly connected with the connecting joint three; the lateral displacement motor is installed between the connecting beam and the lateral support tube, and is used to drive the lateral support tube to move radially relative to the connecting beam; the side wall pressure sensor is snugly installed on the inner side wall of the lateral support tube, and is used to collect the side wall pressure signal in real time; the lateral displacement sensor is connected to the lateral displacement motor, and is used to collect the lateral displacement signal of the lateral support tube in real time; The outer diameter of the connecting joint 4 is adapted to the outer diameter of the lateral support tube, the lower end of the connecting joint 4 is clearance-matched with the upper end of the lateral support tube, and is coaxially fixedly connected with the upper end of the connecting beam; The probe rod extension section includes an extension section cylinder, the outer diameter of the extension section cylinder is adapted to the outer diameter of the friction cylinder, and the lower end of the extension section cylinder is coaxially fixedly connected to the upper end of the connecting joint 4; The outer diameter of the connecting joint 5 matches the outer diameter of the extension cylinder, and the lower end thereof is coaxially fixedly connected to the upper end of the extension cylinder; The self-penetration module includes a telescopic sleeve, an upper self-expanding mechanism, a lower self-expanding mechanism and a telescopic motor; the telescopic sleeve includes an upper cylinder and a lower cylinder, and the upper cylinder and the lower cylinder are connected to each other by a sliding sleeve; a plurality of upper radial channels are evenly opened in the circumferential direction on the upper part of the cylinder body of the upper cylinder; a plurality of lower radial channels are evenly opened in the circumferential direction on the lower part of the cylinder body of the lower cylinder, and the lower end of the lower cylinder is coaxially fixedly connected with the upper end of the connecting joint 5; the upper self-expanding mechanism is installed inside the upper cylinder, and the positions corresponding to the plurality of upper radial channels have a plurality of upper telescopic parts that can perform radial telescopic actions, and the outer ends of the plurality of upper telescopic parts It is located inside the upper cylinder in the fully retracted state, and extends to the outside of the upper cylinder through multiple upper radial channels in the fully extended state; the lower self-expansion mechanism is installed inside the lower cylinder, and has multiple lower telescopic parts that can perform radial telescopic actions at positions corresponding to the multiple lower radial channels, and the outer ends of the multiple lower telescopic parts are located inside the lower cylinder in the fully retracted state, and extend to the outside of the lower cylinder through multiple lower radial channels in the fully extended state; the telescopic motor is arranged at the center of the telescopic sleeve, and its lower end is fixedly connected to the fixed part of the lower self-expansion mechanism, and its upper end is fixedly connected to the fixed part of the upper self-expansion mechanism; The outer diameter of the connecting joint 6 is adapted to the outer diameter of the telescopic sleeve, and the lower end thereof is coaxially fixedly connected to the upper end of the telescopic sleeve; The data acquisition module includes a collection cylinder and a data processor; the outer diameter of the collection cylinder is adapted to the outer diameter of the friction cylinder, and the lower end thereof is coaxially fixedly connected to the upper end of the connection joint 6; the data processor is installed inside the collection cylinder, and is respectively connected to the cone tip resistance sensor, the cone shoulder hole pressure sensor, the side wall friction resistance sensor, the heating component, the temperature sensor, the rotating motor, the torque sensor, the speed sensor, the lateral displacement motor, the side wall pressure sensor, the lateral displacement sensor, the upper self-expansion mechanism, the lower self-expansion mechanism and the telescopic motor through a plurality of cables; The outer diameter of the connecting joint 7 is adapted to the outer diameter of the collection cylinder, and the lower end thereof is coaxially fixedly connected to the upper end of the collection cylinder; The power module includes a power cylinder and a power supply module 1; the outer diameter of the power cylinder is adapted to the outer diameter of the friction cylinder, and the lower end thereof is coaxially fixedly connected to the upper end of the connection connector 7; the power supply module 1 is installed inside the power cylinder and is used to supply power to various electrical devices; The outer diameter of the connecting joint 8 is adapted to the outer diameter of the power supply cylinder, and the lower end thereof is coaxially fixedly connected to the upper end of the power supply cylinder; The friction cylinder, connecting joint 1, cone tip, temperature support cylinder, connecting joint 2, rotating support cylinder, connecting joint 3, lateral support cylinder, connecting joint 4, extension section cylinder, connecting joint 5, telescopic sleeve, connecting joint 6, collection cylinder, connecting joint 7, power supply cylinder and connecting joint 8 are all made of lightweight and high-strength alloy material.

[0005] Preferably, the data processor comprises a controller and a high-precision analog-to-digital converter, and the controller is a PLC controller.

[0006] Furthermore, in order to facilitate mass production and the connection of cables, the shapes and sizes of the connection connectors 1, 2, 3, 4, 5, 6, 7 and 8 are the same, and multiple connection interfaces or multiple wire passages are arranged inside them.

[0007] Furthermore, in order to facilitate the connection, a lifting ring is also included, and the lifting ring is fixedly connected to the upper end of the connecting joint 8.

[0008] Furthermore, in order to make the whole have better low-temperature resistance and radiation resistance, and at the same time, to better reduce the overall weight to achieve the purpose of lightweight, so as to facilitate the use of the lander to launch and recover the entire probe, the lightweight and high-strength alloy is 7075 aluminum-lithium alloy.

[0009] Furthermore, in order to improve the penetration efficiency, the angle of the tip of the cone is 60°.

[0010] The static penetration intelligent probe used for in-situ testing of deep space star surface exploration in the present invention adopts a modular design as a whole, so that the probe has multiple combination capabilities, so that it can be selectively used in combination according to different needs, which improves the flexibility of the probe during use, greatly enhances its adaptability and functionality, and can meet the needs of various deep space exploration tasks. By arranging a cone tip resistance sensor on the top connecting plate of the cone tip connecting block, it is convenient to collect the cone tip resistance signal in real time during the penetration process. The annular permeable stone is snugly connected to the lower end of the friction cylinder, and a pore water chamber is formed between the annular permeable stone and the cone tip connecting block. The cone shoulder pore pressure sensor is then installed in the pore water chamber through the pore pressure connecting block. This allows water to pass through the annular permeable stone into the pore water chamber during the penetration process, and the cone shoulder pore pressure signal can be collected in real time through the cone shoulder pore pressure sensor. The side wall friction resistance signal can be collected in real time during the penetration process by snugly connecting the side wall friction resistance sensor to the inner wall of the friction cylinder. In this way, during the self-penetration process of the intelligent probe, the cone tip resistance data, cone shoulder pore pressure data and side wall friction resistance data can be easily collected in real time. By arranging a heating component and a temperature sensor inside the temperature support tube, the heating component can be used for self-heating operations, and the temperature signal of the heating component can be collected in real time. In this way, after the penetration stops at a certain design depth, the heating component can be used to perform heating-heat dissipation test operations, and then the temperature change curve can be drawn through the temperature data collected by multiple temperature sensors, which is conducive to inverting the thermal physical parameters of the surrounding soil (such as thermal conductivity and heat capacity) through the temperature change curve; the upper insulation ring and the lower insulation ring are respectively installed at the upper and lower ends of the heating component, which can play a role of insulation and avoid interference with the non-heating demand section. The upper end and the lower end of the rotating support tube are respectively loosely matched with the lower end of the connecting joint three and the upper end of the connecting joint two. At the same time, the two ends of the output shaft of the rotating motor installed in the rotating support tube are respectively fixedly connected with the connecting joints two and three. The rotating action of the rotating motor can be used to drive the rotating support tube to rotate relative to the rest of the probe. A torque sensor and a speed sensor are connected to the rotating motor, which can facilitate the real-time collection of torque signals and speed signals during the rotation process. In this way, after the penetration reaches a certain designed depth and stops, the rotating motor can be used to drive the rotation of the rotating support tube, and the torque data and speed data during the rotation process can be collected in real time.The upper and lower ends of the lateral support tube are respectively matched with the lower end of the connection joint 4 and the upper end of the connection joint 3 in clearance. At the same time, the connection joint 4 and the connection joint 3 are fixedly connected by the connection beam, and then the lateral displacement motor is installed between the connection beam and the lateral support tube. The lateral displacement motor can be used to drive the lateral support tube to move laterally relative to the rest of the probe. By setting the side wall pressure sensor, it is convenient to collect the side wall pressure signal in real time during the lateral movement of the lateral support tube. By setting the lateral displacement sensor, it is convenient to collect the lateral displacement signal in real time during the lateral movement of the lateral support tube. In this way, after the penetration stops at a certain design depth, the lateral displacement motor can be used to drive the lateral support tube to change the lateral displacement, and the lateral displacement data and the side wall pressure data on both sides of the lateral displacement can be collected in real time. By monitoring different data during the rotation process and the lateral movement process, it is convenient to obtain the mechanical response of the soil under a complex loading path (such as dynamic cycle characteristics and lateral bearing capacity). By setting the extension section of the probe rod, the overall length of the probe can be extended to meet different testing requirements. In the self-penetration module, a telescopic motor is used to drive the telescopic action of the telescopic sleeve, and then an upper self-expansion mechanism and a lower self-expansion mechanism that can be radially extended are set in the upper cylinder and the lower cylinder. The alternating action of the upper self-expansion mechanism and the lower self-expansion mechanism can be used in combination with the telescopic action of the telescopic motor to drive the probe as a whole to perform self-penetration operations downward, which can meet the self-penetration requirements of various complex geological conditions. In this way, there is no need to set up additional bulky penetration equipment dedicated to the probe, which significantly reduces the investment cost. At the same time, it reduces the dependence on manpower during the penetration process, improves the automation level of the test process and the convenience of operation, and ensures efficient in-situ testing capabilities. A data processor is provided in the data acquisition module, so that the probe itself has the ability to analyze and process data autonomously, and can conveniently obtain the corresponding cone tip resistance data, cone shoulder hole pressure data, side wall friction resistance data, temperature data, torque data, speed data, side wall pressure data and lateral displacement data in real time according to the collected cone tip resistance signal, cone shoulder hole pressure signal, side wall friction resistance signal, temperature data, torque data, speed data, side wall pressure data and lateral displacement signal, and can directly generate a test report, and can also perform real-time inversion of data during the penetration operation. The data processor is connected with each sensor and different execution components, so that the monitoring data can be used as feedback data to perform closed-loop control on the corresponding execution components, thereby significantly improving the control accuracy. At the same time, it is conducive to timely and dynamically adjusting the self-penetration action and other action parameters of the probe, so that the action of the corresponding execution components can be adjusted, which is conducive to real-time optimization and adjustment of the detection process, thereby improving the detection accuracy and efficiency, and significantly improving the in-situ testing capability of the deep space star table, and even in extreme environments, efficient in-situ star table testing can be performed, ensuring that the detection task can be carried out efficiently and stably.The friction cylinder, connection joint 1, cone tip, temperature support cylinder, connection joint 2, rotation support cylinder, connection joint 3, lateral support cylinder, connection joint 4, extension section cylinder, connection joint 5, telescopic sleeve, connection joint 6, collection cylinder, connection joint 7, power supply cylinder and connection joint 8 are all made of lightweight and high-strength alloy materials, so that the overall probe can meet the requirements of lightweight design.

[0011] The present invention integrates multiple sensors, multiple action execution components and data processors, so that the probe itself has a powerful function of multi-dimensional soil parameter collection, and has autonomous penetration capability, so that the probe can efficiently, accurately and autonomously complete the measurement of soil mechanical parameters and thermophysical parameters in extreme environments. At the same time, it can autonomously perform analysis and processing of monitoring data, so that it is convenient to obtain soil characteristic data in a comprehensive manner, thereby improving the assessment accuracy and efficiency of geotechnical materials, and helping to promote the rapid development of future geotechnical engineering technology. The probe can ensure that it can autonomously perform stable detection operations under extreme conditions through an integrated, lightweight and modular design, and can effectively eliminate the inaccurate monitoring data caused by human error. It is conducive to in-depth research on the geological characteristics of planets and satellites based on the acquired soil characteristic data, so as to provide reliable technical support for various engineering projects and future deep space exploration. The probe is not only suitable for deep space measurement tasks, but can also be extended to use in technical fields such as geological exploration, soil quality and environmental monitoring.

[0012] Furthermore, in order to effectively protect the upper telescopic part and the lower telescopic part and effectively improve the service life of the upper telescopic part and the lower telescopic part, the outer surface of the upper telescopic part of the upper self-expansion mechanism and the outer surface of the lower telescopic part of the lower self-expansion mechanism are both wrapped with a protective cover made of flexible wear-resistant material.

[0013] The present invention also provides a static penetration intelligent testing device for in-situ testing of deep space star surface exploration, comprising a static penetration intelligent probe for in-situ testing of deep space star surface exploration, a carrier, a linear electric push rod motor, a solar cell panel, a positioning component, a data processing terminal and a power supply module 2; The carrier is a tetrahedral structure, and a cylindrical receiving cavity is provided at the center of the bottom thereof, and the cylindrical receiving cavity is used to receive a static penetration intelligent probe for in-situ testing of deep space star surface survey; The linear electric push rod motor is installed at the top of the cylindrical accommodating cavity, and its telescopic end is abutted and matched with the top of the static penetration intelligent probe for in-situ testing of deep space star surface exploration, so as to press the static penetration intelligent probe for in-situ testing of deep space star surface exploration into the ground; There are three solar panels, and their size and shape match the size and shape of the three side surfaces of the carrier; the three solar panels are respectively and closely mounted on the three side surfaces of the carrier; The positioning assembly is installed inside the carrier, and includes a high-precision GPS positioning module and an inertial navigation module; The data processing terminal is installed inside the carrier, and is connected to a data processor in a static penetration intelligent probe for in-situ testing of deep space star surveys through a drag chain cable. At the same time, the data processing terminal is respectively connected to a linear electric push rod motor and a positioning assembly; The power supply module 2 is respectively connected to the solar panel, the power supply module 1, the data processing terminal, the linear electric push rod motor and the positioning component, and is used to store electric energy and supply electricity to electrical equipment.

[0014] Furthermore, in order to facilitate the lifting operation, a lifting ring is also included, and the lifting ring is fixedly connected to the top of the carrier.

[0015] Furthermore, in order to better reduce the overall weight and achieve the purpose of lightweight, the carrier is made of 7075 aluminum-lithium alloy.

[0016] In the present invention, the carrier is made into a tetrahedral structure, which can make the overall stability better. Solar panels are installed on the three sides of the carrier, which can facilitate the capture of sunlight in all directions, and then can efficiently use solar energy for power generation operations. A cylindrical accommodating cavity is set at the bottom of the carrier, and a linear electric push rod motor is set at the top of the cylindrical accommodating cavity, which can facilitate the use of the linear electric push rod motor to press the probe into the ground as a whole, so that the pre-penetration operation of the probe can be realized. After the pre-penetration operation is completed, the self-penetration module of the probe can be completely embedded in the soil, and then it can be convenient to use the self-penetration module to perform subsequent self-penetration operations. Power supply module 2 is set and connected to power supply module 1. In this way, it is not only convenient to use power supply modules 1 and 2 to store the electric energy generated by the solar panel at the same time, but also convenient to provide long-term and stable electricity supply to various electrical equipment through coordinated power supply, thereby ensuring that the test device can autonomously perform detection operations for a long time in a deep space environment. The positioning component is provided with a high-precision GPS positioning module and an inertial navigation module, which can facilitate the precise positioning and navigation of the test device on the star chart. The setting of the data processing terminal further improves the intelligence level of the test process, ensuring efficient data analysis and feedback processing capabilities. The device is compact in structure, occupies a small space, has unmanned autonomous operation capabilities, is easy to deploy in a star map environment, and can achieve multi-dimensional precise in-situ detection operations in a deep space environment, including the mechanical parameters, thermophysical parameters and their complex responses of the soil. At the same time, through an integrated and lightweight design, it ensures that detection operations can be carried out stably under extreme conditions, eliminating the need for manual operation, and has real-time data collection and processing capabilities, which is conducive to the dynamic adjustment of the penetration process, thereby improving detection accuracy and efficiency, and providing reliable technical support for future deep space exploration. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a partial schematic diagram of the intelligent probe in the present invention. Figure 1 ; Figure 2 This is a partial schematic diagram of the intelligent probe in the present invention. Figure 1 ; Figure 3 It is a structural schematic diagram of the testing device in the present invention.

[0018] In the figure: 1, static penetration module, 2, friction cylinder, 3, top connecting plate, 4, bore pressure connecting block, 5, annular permeable stone, 6, cone tip, 7, cone tip resistance sensor, 8, cone shoulder bore pressure sensor, 9, side wall friction resistance sensor, 10, lower connecting column, 11, cone tip connecting block, 12, temperature probe module, 13, temperature support cylinder, 14, heating component, 15, temperature sensor, 16, connecting joint 1, 17, upper insulation ring, 18, lower insulation ring, 19, rotating probe module, 20, rotating support cylinder, 21, rotating motor, 22, torque sensor, 23, speed sensor, 24, connecting joint 2, 25, connecting joint 3, 26, lateral displacement probe module, 27, lateral support cylinder, 28, lateral displacement motor, 29, side wall pressure sensor, 30 , lateral displacement sensor, 31. connecting beam, 32. connecting joint four, 33. probe rod extension section, 34. extension section cylinder, 35. self-penetration module, 36. telescopic sleeve, 37. upper cylinder, 38. lower cylinder, 39. telescopic motor, 40. upper self-expansion mechanism, 41. lower self-expansion mechanism, 42. connecting joint five, 43. connecting joint six, 44. data acquisition module, 45. acquisition cylinder, 46. connecting joint seven, 47. power module, 48. power cylinder, 49. connecting joint eight, 50. lifting ring, 51. bearing body, 52. cylindrical accommodating cavity, 53. drag chain cable, 54. solar panel, 55. data processing terminal, 56. power supply module two, 57. lifting ring, 58. static penetration intelligent probe for in-situ testing of deep space star surface exploration. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] like Figure 1 and Figure 2 As shown, the present invention provides a static penetration intelligent probe for in-situ testing of deep space star surface exploration, including a static penetration module 1, a connection joint 16, a temperature probe module 12, a connection joint 24, a rotation probe module 19, a connection joint 3 25, a lateral displacement probe module 26, a connection joint 4 32, a probe rod extension section 33, a connection joint 5 42, a self-penetration module 35, a connection joint 6 43, a data acquisition module 44, a connection joint 7 46, a power module 47 and a connection joint 8 49; The static penetration module 1 includes a friction cylinder 2, a cone tip connecting block 11, an annular permeable stone 5, a bore pressure connecting block 4, a cone tip 6, a cone tip resistance sensor 7, a cone shoulder bore pressure sensor 8 and a side wall friction resistance sensor 9; the cone tip connecting block 11 is fixedly installed inside the lower end of the friction cylinder 2, and the cone tip connecting block 11 includes a top connecting plate 3 and a lower connecting column 10 fixedly connected to the center of the lower end of the top connecting plate 3, wherein the top connecting plate 3 is sealedly connected to the inner side wall of the friction cylinder 2, and the lower end of the lower connecting column 10 extends to the lower end of the friction cylinder 2; the outer diameter of the annular permeable stone 5 is adapted to the outer diameter of the friction cylinder 2, and the aperture of its center hole is adapted to the aperture of the lower connecting column 10, and the annular permeable stone 5 is snugly connected to the lower end of the friction cylinder 2, and is sleeved on the lower end of the lower connecting column 10 through the center hole. The outer side of the end; a pore water chamber is formed between the annular permeable stone 5, the top connecting plate 3 and the lower connecting column 10; the pore pressure connecting block 4 is located in the pore water chamber and is installed on the upper end surface of the annular permeable stone 5; the outer diameter of the large diameter end of the cone tip 6 is adapted to the outer diameter of the annular permeable stone 5, the large diameter end of the cone tip 6 is snugly connected to the lower end surface of the annular permeable stone 5, and the center of its large diameter end is fixedly connected to the lower end of the lower connecting column 10; the cone tip resistance sensor 7 is installed on the top connecting plate 3 for collecting the cone tip resistance signal; a plurality of cone shoulder pore pressure sensors 8 are evenly distributed in the pore water chamber and installed on the pore pressure connecting block 4 for collecting the cone shoulder pore pressure signal; a plurality of side wall friction resistance sensors 9 are evenly and snugly installed on the inner side wall of the friction cylinder 2 in the circumferential direction for collecting the side wall friction resistance signal; The outer diameter of the connecting joint 16 matches the outer diameter of the friction cylinder 2, and the lower end thereof is coaxially fixedly connected to the upper end of the friction cylinder 2; The temperature probe module 12 includes a temperature support tube 13, an upper insulation ring 17, a lower insulation ring 18, a heating assembly 14 and a temperature sensor 15; the outer diameter of the temperature support tube 13 is adapted to the outer diameter of the friction tube 2, and its lower end is coaxially fixedly connected to the upper end of the connecting joint 16; the outer diameters of the upper insulation ring 17 and the lower insulation ring 18 are adapted to the inner diameter of the temperature support tube 13, and are fixedly installed at the upper and lower ends of the temperature support tube 13 respectively; the heating assembly 14 is located between the upper insulation ring 17 and the lower insulation ring 18, and is circumferentially attached to the inner wall of the temperature support tube 13; a plurality of temperature sensors 15 are evenly installed on the heating assembly 14 in the circumferential direction; as a preferred embodiment, the number of temperature sensors 15 is three; The outer diameter of the second connection joint 24 matches the outer diameter of the temperature support tube 13, and the lower end thereof is coaxially fixedly connected to the upper end of the temperature support tube 13; The rotating probe module 19 includes a rotating support cylinder 20, a rotating motor 21, a torque sensor 22 and a speed sensor 23; the outer diameter of the rotating support cylinder 20 is adapted to the outer diameter of the friction cylinder 2, and its lower end is gap-matched with the upper end of the connecting joint 24; the rotating motor 21 is a through-axis motor, which is fixedly installed at the center of the rotating support cylinder 20, and the output shaft of the rotating motor 21 is located in the central area of ​​the rotating support cylinder 20, and the two ends of the output shaft extend to the upper and lower ends of the rotating support cylinder 20 respectively, and at the same time, the lower end of the output shaft of the rotating motor 21 is coaxially fixedly connected to the upper end of the connecting joint 24; the torque sensor 22 and the speed sensor 23 are connected to the output shaft of the rotating motor 21, and are respectively used to collect the torque signal and the speed signal of the rotating motor 21; The outer diameter of the connecting joint 3 25 is adapted to the outer diameter of the rotating support cylinder 20, the lower end of the connecting joint 3 25 is clearance-matched with the upper end of the rotating support cylinder 20, and is fixedly connected to the upper end of the output shaft of the rotating motor 21; The lateral displacement probe module 26 includes a lateral support tube 27, a connecting beam 31, a lateral displacement motor 28, a side wall pressure sensor 29 and a lateral displacement sensor 30; the outer diameter of the lateral support tube 27 is adapted to the outer diameter of the friction tube 2, and its lower end is gap-matched with the upper end of the connecting joint three 25; the connecting beam 31 is coaxially arranged inside the lateral support tube 27, and its lower end is coaxially fixedly connected with the connecting joint three 25; the lateral displacement motor 28 is installed between the connecting beam 31 and the lateral support tube 27, and is used to drive the lateral support tube 27 to move radially relative to the connecting beam 31; the side wall pressure sensor 29 is snugly installed on the inner wall of the lateral support tube 27, and is used to collect the side wall pressure signal in real time; the lateral displacement sensor 30 is connected to the lateral displacement motor 28, and is used to collect the lateral displacement signal of the lateral support tube 27 in real time; as a preferred embodiment, the lateral displacement motor 28 can adopt a linear push rod motor.

[0021] As a preferred embodiment, the number of the side wall pressure sensors 29 is two and they are relatively distributed; The outer diameter of the connecting joint 432 is adapted to the outer diameter of the lateral support tube 27, the lower end of the connecting joint 432 is clearance-matched with the upper end of the lateral support tube 27, and is coaxially fixedly connected with the upper end of the connecting beam 31; The probe rod extension section 33 includes an extension section cylinder 34, the outer diameter of the extension section cylinder 34 is adapted to the outer diameter of the friction cylinder 2, and the lower end of the extension section cylinder 34 is coaxially fixedly connected to the upper end of the connecting joint 4 32; The outer diameter of the connecting joint 5 42 matches the outer diameter of the extension cylinder 34, and the lower end thereof is coaxially fixedly connected to the upper end of the extension cylinder 34; The self-penetration module 35 includes a telescopic sleeve 36, an upper self-expansion mechanism 40, a lower self-expansion mechanism 41 and a telescopic motor 39; the telescopic sleeve 36 includes an upper cylinder 37 and a lower cylinder 38, and the upper cylinder 37 and the lower cylinder 38 are connected to each other by a sliding sleeve; the upper part of the cylinder body of the upper cylinder 37 is uniformly provided with a plurality of upper radial channels in the circumferential direction; the lower part of the cylinder body of the lower cylinder 38 is uniformly provided with a plurality of lower radial channels in the circumferential direction, and the lower end of the lower cylinder 38 is coaxially fixedly connected with the upper end of the connecting joint 5 42; the upper self-expansion mechanism 40 is installed inside the upper cylinder 37, and the positions corresponding to the plurality of upper radial channels are provided with a plurality of upper telescopic parts capable of performing radial telescopic actions, and the outer ends of the plurality of upper telescopic parts are in a fully retracted state. In the fully retracted state, it is located inside the upper cylinder 37, and in the fully extended state, it extends to the outside of the upper cylinder 37 through multiple upper radial channels; the lower self-expansion mechanism 41 is installed inside the lower cylinder 38, and its positions corresponding to the multiple lower radial channels have multiple lower telescopic parts that can perform radial telescopic actions, and the outer ends of the multiple lower telescopic parts are located inside the lower cylinder 38 in the fully retracted state, and extend to the outside of the lower cylinder 38 through multiple lower radial channels in the fully extended state; the telescopic motor 39 is arranged at the center of the telescopic sleeve 36, the lower end of which is fixedly connected to the fixed part of the lower self-expansion mechanism 41, and the upper end of which is fixedly connected to the fixed part of the upper self-expansion mechanism 40; as a preferred embodiment, the telescopic motor 39 can adopt a linear push rod motor.

[0022] During the self-penetration process, the operation is performed as follows: Step 1: Control the telescopic motor 39 to retract and reach a fully retracted state; Step 2: First, control the multiple upper telescopic parts in the upper self-expansion mechanism 40 to extend from the multiple upper radial channels and reach the maximum extension state, so that the multiple upper telescopic parts are anchored in the soil at the corresponding height. At the same time, control the multiple lower telescopic parts in the lower self-expansion mechanism 41 to reach a fully retracted state; then control the telescopic motor 39 to extend and reach a fully extended state, so that the part below the self-penetration module 35 penetrates downward into the soil; Step 3: First, control the multiple lower telescopic parts in the lower expansion mechanism 41 to extend from the multiple lower radial channels and reach the maximum extension state, so that the multiple lower telescopic parts are anchored in the soil at the corresponding height. At the same time, control the multiple upper telescopic parts in the upper self-expansion mechanism 40 to reach a fully retracted state; then control the telescopic motor 39 to retract and reach a fully retracted state, so that the part above the self-penetration module 35 follows a distance downward; Step 4: Repeat steps 2 and 3 for many times to achieve the self-penetration operation of the probe as a whole. During this process, the extension and retraction rate of the telescopic motor 39 can be controlled in real time by the data processor to ensure that the probe can stably penetrate downward.

[0023] The outer diameter of the connecting joint 6 43 matches the outer diameter of the telescopic sleeve 36, and the lower end thereof is coaxially fixedly connected to the upper end of the telescopic sleeve 36; The data acquisition module 44 includes a collection cylinder 45 and a data processor; the outer diameter of the collection cylinder 45 is adapted to the outer diameter of the friction cylinder 2, and its lower end is coaxially fixedly connected to the upper end of the connection joint 6 42; the data processor is installed inside the collection cylinder 45, and is respectively connected to the cone tip resistance sensor 7, the cone shoulder hole pressure sensor 8, the side wall friction sensor 9, the heating component 14, the temperature sensor 15, the rotating motor 21, the torque sensor 22, the speed sensor 23, the lateral displacement motor 28, the side wall pressure sensor 29, the lateral displacement sensor 30, the upper self-expansion mechanism 40, the lower self-expansion mechanism 41 and the telescopic motor 39 through a plurality of cables; The outer diameter of the connecting joint 7 46 matches the outer diameter of the collecting cylinder 45, and the lower end thereof is coaxially fixedly connected to the upper end of the collecting cylinder 45; The power module 47 includes a power cylinder 48 and a power supply module 1; the outer diameter of the power cylinder 48 is adapted to the outer diameter of the friction cylinder 2, and the lower end thereof is coaxially fixedly connected to the upper end of the connection connector 7 46; the power supply module 1 is installed inside the power cylinder 48 and is used to supply power to various electrical devices; as a preferred embodiment, in order to ensure long-term stable and reliable operation of the electrical devices, the power supply module 1 adopts a high-energy-density lithium-ion battery pack; The outer diameter of the connecting joint 8 49 is adapted to the outer diameter of the power supply cylinder 48 , and the lower end thereof is coaxially fixedly connected to the upper end of the power supply cylinder 48 .

[0024] As a preferred embodiment, the data processor includes a controller, a high-precision analog-to-digital converter and a data storage device, and the controller is a PLC controller. The high-precision analog-to-digital converter (ADC) can convert the analog signal collected by the sensor into a data signal, and then send it to the controller. The data storage device is a non-volatile memory, which is connected to the controller and is used for real-time storage and reading of the collected data. The controller is used to analyze the received signal so as to obtain the corresponding collected data in real time. At the same time, it can generate a detection report in real time based on the collected data, and can further adjust the action state of the self-penetration module in real time by feedback control in combination with the collected data, such as adjusting the self-penetration rate of the self-penetration module.

[0025] In order to facilitate mass production and the connection of cables, the shapes and sizes of the connecting connectors 16, 24, 35, 32, 42, 6, 43, 7, 46 and 8 49 are the same, and multiple connection interfaces or multiple wire passages are arranged inside them, so that the connection of multiple cables can be facilitated, or the passage of multiple cables can be facilitated.

[0026] In order to facilitate the connection, a lifting ring 50 is also included, and the lifting ring 50 is fixedly connected to the upper end of the connecting joint eight 49.

[0027] In order to make the whole have good low temperature resistance and radiation resistance, and at the same time, in order to reduce the overall weight to achieve the purpose of lightweight, so that it is convenient to use the lander to launch and recover the probe as a whole, the friction cylinder 2, the connection joint 16, the cone tip 6, the temperature support cylinder 13, the connection joint 24, the rotation support cylinder 20, the connection joint 3 25, the lateral support cylinder 27, the connection joint 4 32, the extension section cylinder 34, the connection joint 5 42, the telescopic sleeve 36, the connection joint 6 43, the collection cylinder 45, the connection joint 7 46, the power supply cylinder 48 and the connection joint 8 49 are all made of light high-strength alloy materials. As a further preferred embodiment, the light high-strength alloy is 7075 aluminum-lithium alloy, so that it can still maintain good strength and toughness at a low temperature of -196°C. At the same time, the aluminum-lithium alloy can effectively reduce the radiation effect due to its lower atomic number, and is suitable for detection operations in deep space environments.

[0028] In order to improve the penetration efficiency, the angle of the tip of the cone tip 6 is 60°.

[0029] In order to effectively protect the upper telescopic part and the lower telescopic part and effectively improve the service life of the upper telescopic part and the lower telescopic part, the outer surface of the upper telescopic part of the upper self-expansion mechanism 40 and the outer surface of the lower telescopic part of the lower self-expansion mechanism 41 are both wrapped with a protective cover made of flexible wear-resistant material.

[0030] The static penetration intelligent probe used for in-situ testing of deep space star surface exploration in the present invention adopts a modular design as a whole, so that the probe has multiple combination capabilities, so that it can be selectively used in combination according to different needs, which improves the flexibility of the probe during use, greatly enhances its adaptability and functionality, and can meet the needs of various deep space exploration tasks. By arranging a cone tip resistance sensor on the top connecting plate of the cone tip connecting block, it is convenient to collect the cone tip resistance signal in real time during the penetration process. The annular permeable stone is snugly connected to the lower end of the friction cylinder, and a pore water chamber is formed between the annular permeable stone and the cone tip connecting block. The cone shoulder pore pressure sensor is then installed in the pore water chamber through the pore pressure connecting block. This allows water to pass through the annular permeable stone into the pore water chamber during the penetration process, and the cone shoulder pore pressure signal can be collected in real time through the cone shoulder pore pressure sensor. The side wall friction resistance signal can be collected in real time during the penetration process by snugly connecting the side wall friction resistance sensor to the inner wall of the friction cylinder. In this way, during the self-penetration process of the intelligent probe, the cone tip resistance data, cone shoulder pore pressure data and side wall friction resistance data can be easily collected in real time. By arranging a heating component and a temperature sensor inside the temperature support tube, the heating component can be used for self-heating operations, and the temperature signal of the heating component can be collected in real time. In this way, after the penetration stops at a certain design depth, the heating component can be used to perform heating-heat dissipation test operations, and then the temperature change curve can be drawn through the temperature data collected by multiple temperature sensors, which is conducive to inverting the thermal physical parameters of the surrounding soil (such as thermal conductivity and heat capacity) through the temperature change curve; the upper insulation ring and the lower insulation ring are respectively installed at the upper and lower ends of the heating component, which can play a role of insulation and avoid interference with the non-heating demand section. The upper end and the lower end of the rotating support tube are respectively loosely matched with the lower end of the connecting joint three and the upper end of the connecting joint two. At the same time, the two ends of the output shaft of the rotating motor installed in the rotating support tube are respectively fixedly connected with the connecting joints two and three. The rotating action of the rotating motor can be used to drive the rotating support tube to rotate relative to the rest of the probe. A torque sensor and a speed sensor are connected to the rotating motor, which can facilitate the real-time collection of torque signals and speed signals during the rotation process. In this way, after the penetration reaches a certain designed depth and stops, the rotating motor can be used to drive the rotation of the rotating support tube, and the torque data and speed data during the rotation process can be collected in real time.The upper and lower ends of the lateral support tube are respectively matched with the lower end of the connection joint 4 and the upper end of the connection joint 3 in clearance. At the same time, the connection joint 4 and the connection joint 3 are fixedly connected by the connection beam, and then the lateral displacement motor is installed between the connection beam and the lateral support tube. The lateral displacement motor can be used to drive the lateral support tube to move laterally relative to the rest of the probe. By setting the side wall pressure sensor, it is convenient to collect the side wall pressure signal in real time during the lateral movement of the lateral support tube. By setting the lateral displacement sensor, it is convenient to collect the lateral displacement signal in real time during the lateral movement of the lateral support tube. In this way, after the penetration stops at a certain design depth, the lateral displacement motor can be used to drive the lateral support tube to change the lateral displacement, and the lateral displacement data and the side wall pressure data on both sides of the lateral displacement can be collected in real time. By monitoring different data during the rotation process and the lateral movement process, it is convenient to obtain the mechanical response of the soil under a complex loading path (such as dynamic cycle characteristics and lateral bearing capacity). By setting the extension section of the probe rod, the overall length of the probe can be extended to meet different testing requirements. In the self-penetration module, a telescopic motor is used to drive the telescopic action of the telescopic sleeve, and then an upper self-expansion mechanism and a lower self-expansion mechanism that can be radially extended are set in the upper cylinder and the lower cylinder. The alternating action of the upper self-expansion mechanism and the lower self-expansion mechanism can be used in combination with the telescopic action of the telescopic motor to drive the probe as a whole to perform self-penetration operations downward, which can meet the self-penetration requirements of various complex geological conditions. In this way, there is no need to set up additional bulky penetration equipment dedicated to the probe, which significantly reduces the investment cost. At the same time, it reduces the dependence on manpower during the penetration process, improves the automation level of the test process and the convenience of operation, and ensures efficient in-situ testing capabilities. A data processor is provided in the data acquisition module, so that the probe itself has the ability to analyze and process data autonomously, and can conveniently obtain the corresponding cone tip resistance data, cone shoulder hole pressure data, side wall friction resistance data, temperature data, torque data, speed data, side wall pressure data and lateral displacement data in real time according to the collected cone tip resistance signal, cone shoulder hole pressure signal, side wall friction resistance signal, temperature data, torque data, speed data, side wall pressure data and lateral displacement signal, and can directly generate a test report, and can also perform real-time inversion of data during the penetration operation. The data processor is connected with each sensor and different execution components, so that the monitoring data can be used as feedback data to perform closed-loop control on the corresponding execution components, thereby significantly improving the control accuracy. At the same time, it is conducive to timely and dynamically adjusting the self-penetration action and other action parameters of the probe, so that the action of the corresponding execution components can be adjusted, which is conducive to real-time optimization and adjustment of the detection process, thereby improving the detection accuracy and efficiency, and significantly improving the in-situ testing capability of the deep space star table, and even in extreme environments, efficient in-situ star table testing can be performed, ensuring that the detection task can be carried out efficiently and stably.The friction cylinder, connection joint 1, cone tip, temperature support cylinder, connection joint 2, rotation support cylinder, connection joint 3, lateral support cylinder, connection joint 4, extension section cylinder, connection joint 5, telescopic sleeve, connection joint 6, collection cylinder, connection joint 7, power supply cylinder and connection joint 8 are all made of lightweight and high-strength alloy materials, so that the overall probe can meet the requirements of lightweight design.

[0031] The present invention integrates multiple sensors, multiple action execution components and data processors, so that the probe itself has a powerful function of multi-dimensional soil parameter collection, and has autonomous penetration capability, so that the probe can efficiently, accurately and autonomously complete the measurement of soil mechanical parameters and thermophysical parameters in extreme environments. At the same time, it can autonomously perform analysis and processing of monitoring data, so that it is convenient to obtain soil characteristic data in a comprehensive manner, thereby improving the assessment accuracy and efficiency of geotechnical materials, and helping to promote the rapid development of future geotechnical engineering technology. The probe can ensure that it can autonomously perform stable detection operations under extreme conditions through an integrated, lightweight and modular design, and can effectively eliminate the inaccurate monitoring data caused by human error. It is conducive to in-depth research on the geological characteristics of planets and satellites based on the acquired soil characteristic data, so as to provide reliable technical support for various engineering projects and future deep space exploration. The probe is not only suitable for deep space measurement tasks, but can also be extended to use in technical fields such as geological exploration, soil quality and environmental monitoring.

[0032] like Figure 3 As shown, the present invention also provides a static penetration intelligent testing device for in-situ testing of deep space star surface exploration, including a static penetration intelligent probe 58 for in-situ testing of deep space star surface exploration, a carrier 51, a linear electric push rod motor, a solar cell panel 54, a positioning component, a data processing terminal 55 and a power supply module 2 56; The carrier 51 is a tetrahedral structure, and a cylindrical receiving cavity 52 is provided at the center of the bottom thereof. The cylindrical receiving cavity 52 is used to receive a static penetration intelligent probe 58 for in-situ testing of deep space star surface survey; The linear electric push rod motor is installed at the top of the cylindrical accommodating cavity 52, and its telescopic end is abutted and matched with the top of the static penetration intelligent probe 58 for in-situ testing of deep space star surface exploration, so as to press the static penetration intelligent probe 58 for in-situ testing of deep space star surface exploration into the ground; There are three solar panels 54, and their size and shape match the size and shape of the three side surfaces of the carrier 51; the three solar panels 54 are respectively and closely mounted on the three side surfaces of the carrier 51; The positioning assembly is installed inside the carrier 51, and includes a high-precision GPS positioning module and an inertial navigation module; The data processing terminal 55 is installed inside the carrier 51, and is connected to the data processor in the static penetration intelligent probe 58 for in-situ testing of deep space star survey through the drag chain cable 53. At the same time, the data processing terminal 55 is respectively connected to the linear electric push rod motor and the positioning assembly; The power supply module 2 56 is respectively connected to the solar panel 54 , the power supply module 1 , the data processing terminal 55 , the linear electric push rod motor and the positioning assembly for storing electric energy and supplying electricity to electrical equipment.

[0033] In order to facilitate the lifting operation, a lifting ring 57 is also included, and the lifting ring 57 is fixedly connected to the top of the carrier 51.

[0034] In order to better reduce the overall weight and achieve the purpose of lightweight, the carrier 51 is made of 7075 aluminum-lithium alloy.

[0035] In the present invention, the carrier is made into a tetrahedral structure, which can make the overall stability better. Solar panels are installed on the three sides of the carrier, which can facilitate the capture of sunlight in all directions, and then can efficiently use solar energy for power generation operations. A cylindrical accommodating cavity is set at the bottom of the carrier, and a linear electric push rod motor is set at the top of the cylindrical accommodating cavity, which can facilitate the use of the linear electric push rod motor to press the probe into the ground as a whole, so that the pre-penetration operation of the probe can be realized. After the pre-penetration operation is completed, the self-penetration module of the probe can be completely embedded in the soil, and then it can be convenient to use the self-penetration module to perform subsequent self-penetration operations. Power supply module 2 is set and connected to power supply module 1. In this way, it is not only convenient to use power supply modules 1 and 2 to store the electric energy generated by the solar panel at the same time, but also convenient to provide long-term and stable electricity supply to various electrical equipment through coordinated power supply, thereby ensuring that the test device can autonomously perform detection operations for a long time in a deep space environment. The positioning component is provided with a high-precision GPS positioning module and an inertial navigation module, which can facilitate the precise positioning and navigation of the test device on the star chart. Through the setting of data processing terminals, the intelligence level of the testing process is further improved, ensuring efficient data analysis and feedback processing capabilities.

[0036] The device is compact, occupies little space, has unmanned autonomous operation capabilities, is easy to deploy in the star surface environment, and can achieve multi-dimensional precise in-situ detection operations in the deep space environment, including the mechanical parameters, thermophysical parameters and their complex responses of the soil. At the same time, through the integrated and lightweight design, it ensures stable detection operations under extreme conditions, eliminates the need for manual operation, and has real-time data collection and processing capabilities, which is conducive to the dynamic adjustment of the penetration process, thereby improving detection accuracy and efficiency, and providing reliable technical support for future deep space exploration.

[0037] In the future interstellar exploration, the probe and test device can provide reliable technical guarantee and key data support for exploring the soil characteristics of unknown planets, satellites and asteroids, and help humans conduct more in-depth exploration and research on different star charts in the universe. Whether in scientific research or engineering applications, the static penetration intelligent probe and test device will play an important role, laying a solid technical foundation for humans to move towards further exploration of the universe.

Claims

1. A static penetration intelligent probe for in-situ testing of deep space star surface survey, comprising a static penetration module (1); characterized in that: It also includes a connection joint 1 (16), a temperature probe module (12), a connection joint 2 (24), a rotation probe module (19), a connection joint 3 (25), a lateral displacement probe module (26), a connection joint 4 (32), a probe rod extension section (33), a connection joint 5 (42), a self-penetration module (35), a connection joint 6 (43), a data acquisition module (44), a connection joint 7 (46), a power supply module (47) and a connection joint 8 (49); The static penetration module (1) comprises a friction cylinder (2), a cone tip connection block (11), an annular permeable stone (5), a pore pressure connection block (4), a cone tip (6), a cone tip resistance sensor (7), a cone shoulder pore pressure sensor (8) and a side wall friction resistance sensor (9); the cone tip connection block (11) is fixedly mounted inside the lower end of the friction cylinder (2); the cone tip connection block (11) comprises a top connection plate (3) and a lower connection column (10) fixedly connected to the center of the lower end of the top connection plate (3), wherein the top connection plate (3) is sealedly connected to the inner side wall of the friction cylinder (2), and the lower end of the lower connection column (10) extends to the lower end of the friction cylinder (2); the outer diameter of the annular permeable stone (5) is matched with the outer diameter of the friction cylinder (2), the aperture of the center hole thereof is matched with the aperture of the lower connection column (10), and the annular permeable stone (5) is snugly connected to the lower end of the friction cylinder (2) and is sleeved on the lower connection column (10) through the center hole. The outer side of the lower end of the lower connecting column (10) is connected to the top connecting plate (3); a pore water chamber is formed between the annular permeable stone (5), the top connecting plate (3) and the lower connecting column (10); the pore pressure connecting block (4) is located in the pore water chamber and is installed on the upper end surface of the annular permeable stone (5); the outer diameter of the large diameter end of the cone tip (6) is matched with the outer diameter of the annular permeable stone (5), the large diameter end of the cone tip (6) is snugly connected to the lower end surface of the annular permeable stone (5), and the center of the large diameter end is fixedly connected to the lower end of the lower connecting column (10); the cone tip resistance sensor (7) is installed on the top connecting plate (3) for collecting the cone tip resistance signal; a plurality of cone shoulder pore pressure sensors (8) are evenly distributed in the pore water chamber and installed on the pore pressure connecting block (4) for collecting the cone shoulder pore pressure signal; a plurality of side wall friction resistance sensors (9) are evenly and snugly installed on the inner side wall of the friction cylinder (2) in the circumferential direction for collecting the side wall friction resistance signal; The outer diameter of the connecting joint 1 (16) is adapted to the outer diameter of the friction cylinder (2), and the lower end thereof is coaxially fixedly connected to the upper end of the friction cylinder (2); The temperature probe module (12) comprises a temperature support tube (13), an upper insulation ring (17), a lower insulation ring (18), a heating assembly (14) and a temperature sensor (15); the outer diameter of the temperature support tube (13) matches the outer diameter of the friction tube (2), and the lower end thereof is coaxially fixedly connected to the upper end of the connecting joint (16); the outer diameters of the upper insulation ring (17) and the lower insulation ring (18) match the inner diameter of the temperature support tube (13), and are respectively fixedly mounted at the upper end and the lower end of the temperature support tube (13); the heating assembly (14) is located between the upper insulation ring (17) and the lower insulation ring (18), and is circumferentially fitted and connected to the inner wall of the temperature support tube (13); a plurality of temperature sensors (15) are evenly mounted on the heating assembly (14) in a circumferential direction, and are used to collect temperature signals in real time; The outer diameter of the second connecting joint (24) is adapted to the outer diameter of the temperature support tube (13), and the lower end thereof is coaxially fixedly connected to the upper end of the temperature support tube (13); The rotating probe module (19) comprises a rotating support tube (20), a rotating motor (21), a torque sensor (22) and a speed sensor (23); the outer diameter of the rotating support tube (20) is matched with the outer diameter of the friction tube (2), and the lower end thereof is clearance-matched with the upper end of the second connecting joint (24); the rotating motor (21) is a through-axis motor, which is fixedly installed at the center of the rotating support tube (20), the output shaft of the rotating motor (21) is located in the central area of ​​the rotating support tube (20), and the two ends of the output shaft extend to the upper end and the lower end of the rotating support tube (20), respectively, and at the same time, the lower end of the output shaft of the rotating motor (21) is coaxially fixedly connected with the upper end of the second connecting joint (24); the torque sensor (22) and the speed sensor (23) are connected to the output shaft of the rotating motor (21), and are used to collect the torque signal and the speed signal of the rotating motor (21) respectively; The outer diameter of the connecting joint three (25) is adapted to the outer diameter of the rotating support cylinder (20), the lower end of the connecting joint three (25) is clearance-matched with the upper end of the rotating support cylinder (20), and is fixedly connected to the upper end of the output shaft of the rotating motor (21); The lateral displacement probe module (26) comprises a lateral support tube (27), a connecting beam (31), a lateral displacement motor (28), a side wall pressure sensor (29) and a lateral displacement sensor (30); the outer diameter of the lateral support tube (27) is adapted to the outer diameter of the friction tube (2), and the lower end thereof is clearance-matched with the upper end of the third connecting joint (25); the connecting beam (31) is coaxially arranged inside the lateral support tube (27), and the lower end thereof is coaxially fixedly connected to the third connecting joint (25). The lateral displacement motor (28) is installed between the connecting beam (31) and the lateral support cylinder (27) to drive the lateral support cylinder (27) to move radially relative to the connecting beam (31); the side wall pressure sensor (29) is snugly installed on the inner wall of the lateral support cylinder (27) to collect the side wall pressure signal in real time; the lateral displacement sensor (30) is connected to the lateral displacement motor (28) to collect the lateral displacement signal of the lateral support cylinder (27) in real time; The outer diameter of the connecting joint four (32) is adapted to the outer diameter of the lateral support tube (27); the lower end of the connecting joint four (32) is clearance-matched with the upper end of the lateral support tube (27) and is coaxially fixedly connected to the upper end of the connecting beam (31); The probe rod extension section (33) comprises an extension section cylinder (34), the outer diameter of the extension section cylinder (34) is adapted to the outer diameter of the friction cylinder (2), and the lower end of the extension section cylinder (34) is coaxially fixedly connected to the upper end of the connecting joint four (32); The outer diameter of the connecting joint 5 (42) is adapted to the outer diameter of the extension section cylinder (34), and the lower end thereof is coaxially fixedly connected to the upper end of the extension cylinder (34); The self-penetration module (35) comprises a telescopic sleeve (36), an upper self-expanding mechanism (40), a lower self-expanding mechanism (41) and a telescopic motor (39); the telescopic sleeve (36) comprises an upper cylinder (37) and a lower cylinder (38), the upper cylinder (37) and the lower cylinder (38) being connected to each other by means of a sliding sleeve connection; a plurality of upper radial channels are uniformly provided on the upper part of the cylinder body of the upper cylinder (37) in the circumferential direction; a plurality of lower radial channels are uniformly provided on the lower part of the cylinder body of the lower cylinder (38) in the circumferential direction, and the lower end of the lower cylinder (38) is coaxially fixedly connected to the upper end of the connecting joint 5 (42); the upper self-expanding mechanism (40) is installed inside the upper cylinder (37), and has a plurality of upper expansion mechanisms capable of performing radial telescopic movements at positions corresponding to the plurality of upper radial channels. The outer ends of the multiple upper telescopic parts are located inside the upper cylinder (37) in a fully retracted state, and extend to the outside of the upper cylinder (37) through multiple upper radial channels when in a fully extended state; the lower self-expansion mechanism (41) is installed inside the lower cylinder (38), and has multiple lower telescopic parts capable of radial telescopic action at positions corresponding to the multiple lower radial channels, and the outer ends of the multiple lower telescopic parts are located inside the lower cylinder (38) in a fully retracted state, and extend to the outside of the lower cylinder (38) through multiple lower radial channels when in a fully extended state; the telescopic motor (39) is arranged at the center of the telescopic sleeve (36), and its lower end is fixedly connected to the fixed part of the lower self-expansion mechanism (41), and its upper end is fixedly connected to the fixed part of the upper self-expansion mechanism (40); The outer diameter of the connecting joint 6 (43) is adapted to the outer diameter of the telescopic sleeve (36), and the lower end thereof is coaxially fixedly connected to the upper end of the telescopic sleeve (36); The data acquisition module (44) comprises a data acquisition cylinder (45) and a data processor; the outer diameter of the data acquisition cylinder (45) is adapted to the outer diameter of the friction cylinder (2), and the lower end thereof is coaxially fixedly connected to the upper end of the connection joint 6 (42); the data processor is installed inside the data acquisition cylinder (45), and is respectively connected to the cone tip resistance sensor (7), the cone shoulder hole pressure sensor (8), the side wall friction resistance sensor (9), the heating component (14), the temperature sensor (15), the rotating motor (21), the torque sensor (22), the rotation speed sensor (23), the lateral displacement motor (28), the side wall pressure sensor (29), the lateral displacement sensor (30), the upper self-expansion mechanism (40), the lower self-expansion mechanism (41) and the telescopic motor (39) through a plurality of cables; The outer diameter of the connecting joint 7 (46) is adapted to the outer diameter of the collecting cylinder (45), and the lower end thereof is coaxially fixedly connected to the upper end of the collecting cylinder (45); The power module (47) comprises a power cylinder (48) and a power supply module 1; the outer diameter of the power cylinder (48) is adapted to the outer diameter of the friction cylinder (2), and the lower end thereof is coaxially fixedly connected to the upper end of the connection joint 7 (46); the power supply module 1 is installed inside the power cylinder (48) and is used to supply power to various electrical devices; The outer diameter of the connecting joint 8 (49) is adapted to the outer diameter of the power supply cylinder (48), and the lower end thereof is coaxially fixedly connected to the upper end of the power supply cylinder (48); The friction cylinder (2), the first connection joint (16), the cone tip (6), the temperature support cylinder (13), the second connection joint (24), the rotation support cylinder (20), the third connection joint (25), the lateral support cylinder (27), the fourth connection joint (32), the extension cylinder (34), the fifth connection joint (42), the telescopic sleeve (36), the sixth connection joint (43), the collection cylinder (45), the seventh connection joint (46), the power supply cylinder (48) and the eighth connection joint (49) are all made of a lightweight high-strength alloy material.

2. The intelligent static penetration probe for in-situ testing of deep space star surface survey according to claim 1, characterized in that: The data processor includes a controller and a high-precision analog-to-digital converter, and the controller is a PLC controller.

3. The intelligent static penetration probe for in-situ testing of deep space star surface survey according to claim 1 or 2, characterized in that: The shapes and sizes of the connecting joint 1 (16), the connecting joint 2 (24), the connecting joint 3 (25), the connecting joint 4 (32), the connecting joint 5 (42), the connecting joint 6 (43), the connecting joint 7 (46) and the connecting joint 8 (49) are the same, and a plurality of connecting interfaces or a plurality of wire passages are arranged inside them.

4. The intelligent static penetration probe for in-situ testing of deep space star surface survey according to claim 3, characterized in that: It also includes a lifting ring (50), wherein the lifting ring (50) is fixedly connected to the upper end of the connecting joint eight (49).

5. The intelligent static penetration probe for in-situ testing of deep space star surface survey according to claim 1, characterized in that: The lightweight and high-strength alloy is 7075 aluminum-lithium alloy.

6. The intelligent static penetration probe for in-situ testing of deep space star surface survey according to claim 5, characterized in that: The angle of the tip of the cone tip (6) is 60°.

7. The intelligent static penetration probe for in-situ testing of deep space star surface survey according to claim 1, characterized in that: The outer surface of the upper telescopic portion of the upper self-expanding mechanism (40) and the outer surface of the lower telescopic portion of the lower self-expanding mechanism (41) are both wrapped with protective covers made of flexible wear-resistant material.

8. A static penetration test intelligent testing device for in-situ testing of deep space star surface exploration, comprising a static penetration test intelligent probe (58) for in-situ testing of deep space star surface exploration according to any one of claims 1 to 7, characterized in that: It also includes a carrier (51), a linear electric push rod motor, a solar panel (54), a positioning component, a data processing terminal (55) and a second power supply module (56); The carrier (51) is a tetrahedral structure, and a columnar accommodating cavity (52) is provided at the center of the bottom thereof, wherein the columnar accommodating cavity (52) is used to accommodate a static penetration intelligent probe (58) used for in-situ testing of deep space star surface survey; The linear electric push rod motor is mounted on the top of the cylindrical accommodating cavity (52), and the telescopic end of the linear electric push rod motor is abutted against the top of the static penetration intelligent probe (58) for deep space star surface exploration in-situ testing, so as to press the static penetration intelligent probe (58) for deep space star surface exploration in-situ testing into the ground; The number of the solar cell panels (54) is three, and the size and shape of the solar cell panels (54) are adapted to the size and shape of the three side surfaces of the carrier (51); the three solar cell panels (54) are respectively and closely mounted on the three side surfaces of the carrier (51); The positioning component is installed inside the carrier (51), and comprises a high-precision GPS positioning module and an inertial navigation module; The data processing terminal (55) is installed inside the carrier (51) and is connected to a data processor in a static penetration intelligent probe (58) for in-situ testing of deep space star surveys via a drag chain cable (53). At the same time, the data processing terminal (55) is respectively connected to the linear electric push rod motor and the positioning assembly; The power supply module 2 (56) is respectively connected to the solar panel (54), the power supply module 1, the data processing terminal (55), the linear electric push rod motor and the positioning assembly, and is used to store electric energy and supply electricity to electrical equipment.

9. The intelligent static penetration test device for in-situ testing of deep space star surface survey according to claim 8, characterized in that: It also includes a lifting ring (57), wherein the lifting ring (57) is fixedly connected to the top end of the supporting body (51).

10. The intelligent static penetration test device for in-situ testing of deep space star surface survey according to claim 9, characterized in that: The carrier (51) is made of 7075 aluminum-lithium alloy.

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