The lunar rover 1 is the world's first remotely operated lunar rover successfully launched by the Soviet Union.In the space hegemony between the United States and the Soviet Union in the last century, the Soviet Union has successfully sent two unmanned lunar rovers to the moon, called Lunar Rover 1 and Lunar Rover 2 respectively.The lunar rover 1 is an unmanned lunar rover. It landed on the moon with the Soviet "Moon" 17 probe on November 17, 1970, and landed in the rain sea area on the moon surface. This is the first time to remotely control a robot on another planet on the earth.[1]
The lunar rover 1 traveled a total of 10540 meters, inspected the moon surface covering an area of 80000 square meters, took more than 20000 photos, analyzed the physical and mechanical properties of the lunar soil at 500 points of the driving line, and conducted chemical analysis of the lunar soil at 25 points.In addition, it also collected radiation data of the Dagui lunar surface.[1]
Its life span reached ten months, until the nuclear energy it carried ran out, which was much longer than the original plan of 90 days.
There is no air on the moon, and the gravity on the surface is only 1/6 of that of the earth. Ning Hang's crew must wear heavy and sealed spacesuits.Therefore, although they have undergone repeated specialized training and practice, they still find it difficult to walk and walk, always stagger like drunkards.In order to conduct research on the lunar surface and expand the scope of astronauts' activities“Apollo 14”Twenty five percent of the astronauts took a small cart to the moon for them to collect samples of lunar rocks.At the end of July 1971, the pilot of "Apollo 15" brought an exquisite battery car - "Lunar Rover". It was about 3 meters long, and four metal wheels were driven by separate motors. It was very flexible, and its speed could reach 18 km/h at the fastest time.[2]
However, the first car on the moon was not brought by man, but an unmanned spacecraft from the former Soviet Union“Moon 17”(launched on November 10, 1970).The shape of this "lunar rover 1" is very strange. It has eight wheels in front and behind. It can automatically drive on the moon, do experiments, collect rocks, and even climb a 30 degree steep slope under the remote control command of people on the earth.[2]
The course of lunar exploration
Announce
edit
On January 17, 1970, the Soviet Union launchedLunar 17 probeThe first unmanned lunar rover in the world, Lunar Rover 1, was sent to the moon, which is also the first lunar rover in the history of aerospace.Lunar 17 probe made a soft landing in the rain sea area on the lunar surface.Then the lunar rover 1 slid down the gangway extended by the probe to the moon, and carried out a scientific investigation for 10 and a half months, until the nuclear energy carried was exhausted and it stopped working on October 4, 1971.The rover 1 is equipped with a telemetry system, a television camera system, etc. It has carefully investigated the lunar surface of about 80000 square meters, taken more than 20000 television photos, studied the physical and mechanical properties of the lunar soil at more than 500 points of the driving line, conducted chemical analysis of the soil at 25 points, and conducted a long-term investigation of the radiation characteristics of the lunar surface.[3]
The lunar rover 1 looks like a big bathtub, with a large convex cover on it and eight independently driven wheels underneath.It is equipped with a conical antenna, a spiral antenna, four television cameras, a special retractable experimental device for detecting the density and mechanical properties of lunar soil by impacting it, an X-ray spectrometer, an X-ray telescope, a cosmic ray detector, and a set of laser ranging devices.The car is inlaid on the lower surface of the coverSolar panelProvide power.The maximum travel is 10540 meters.[3]
Design structure
Announce
edit
The lunar rover is shaped like a barrel with a raised cover. There are 8 wheels under the rover, and each wheel is independently controlled.The equipment on the vehicle includes a conical antenna, a high-precision directional spiral antenna, four television cameras, and some equipment used to measure the density and physical and chemical characteristics of lunar soil.Under the raised cover are solar cells.The antenna is responsible for transmitting the conditions on the moon surface to a five person team in Moscow, who will remotely control the next step of the lunar rover.[4]
The lunar rover 1 is 2.2 meters long, 1.6 meters wide, and weighs 756 kilograms. It consists of a wheeled chassis and an instrument compartment. It is powered by solar panels and backup batteries. This is the "lunar rover 1". It has eight wheels, 51 centimeters in diameter, and is driven and used by electric motorselectromagnetic relay Brake.In addition to the telemetry system and television camera system, the instrument cabin is also equipped with an isotope heat source, which can keep the temperature.[4]
The lunar rover 1 operated for a total of 10 months (it can only work in the daytime on the moon), and it was not terminated until October 4, 1978.It traveled a total of 10 kilometers and sent back more than 20000 TV pictures and more than 200 panoramic photos.
Launched by the Soviet Union on January 8, 1973Moon 21 ，把Lunar rover 2Send it to the moon for more achievements.the last oneLunar 24 probeIt was launched on August 9, 1976, and landed on the dangerous sea on the moon surface on August 18, 1976. 170 grams of lunar rock samples were drilled and brought back.At this point, the unmanned exploration of the moon by the former Soviet Union was announced to be completed, and people's understanding of the moon became richer and more complete.[4]
Achieve results
Announce
edit
Figure 1
On November 17, 1970, the independent inspection probe of lunar rover 1 flew to the moon for the first time in the history of aerospace.It comes from“Moon 17”The landing module of the space station landed in the west of Yuhai in the south of Hongwan, with coordinates of 35 ° west longitude and 38.17 ° north latitude.This exploration has enabled mankind to obtain information with unique value, which will become the basis for the design of construction machines on the moon surface.The patrol detector surveyed 80000m in detailtwoThe soil and appearance of the moon in the region.The lunar rover has studied the physical and mechanical properties of the lunar soil surface at more than 500 track points of the lunar rover, and analyzed the chemical composition of the lunar soil at 20 track points.The technical data and motion parameters of the lunar rover are shown in Figure 1 on the right.[5]
On the way of lunar rover 1 passing through the plain, a large number of impact craters, crescent craters ranging from lcm to 5cm to 10cm, and rock debris with a diameter of several centimeters were found. On the surface of the stones, cohesive lumps containing micro strength materials were also found.In the panoramic photos of the lunar surface, there are a large number of pits and pit like grooves, with diameters ranging from 150m-200m to 500m and heights ranging from 3m-6m, and there are also a large number of pits with diameters ranging from 5m to 30m and stones with sizes of 3m.[5]
PenetrationThe measurement experiment shows that the composition of the lunar soil on the moving route of the lunar rover is no different from that of the Logarite rock on the landing site of the lunar probe 16. Its particle size is less than 1mm, and it is a weakly connected loose powdery sandy material.The thickness of the Logrit layer passing by on the way is not fixed, which is related to the appearance of the moon around it.According to rough estimation, the thickness at the flat place under the slope can reach 1m~5m;At the top of the mountain and on the slope, it is reduced to a few centimeters.At the lunar rover 1 survey site, the thickness of loose layer of lunar soil is not less than 6cm.The 1cm-2cm (fine grain) layer on the surface is more loose, and the bearing capacity is 2kPa-3kPa.
Figure 2
In order to determine the chemical composition of lunar soil, a relatively simple but very effective method isotope X-ray fluorescence analysis was used.The working principle of this method is: special isotope source（radio isotope）Radiate the lunar soil in front of the lunar wheel, ionize the atoms of the lunar soil's constituent elements, and result in responsive X-ray, whose energy is strictly consistent with a certain chemical element;The sensor with filter receives the response ray, counts the response quantum and determines the energy;The counter readings are transmitted to the earth in the form of telemetry signals.Since any chemical element emits its own inherent X spectrum, the element composition of the lunar soil during the motion of the lunar rover can be determined.The determination results (percentage) of chemical composition of lunar soil during the movement of Lunar Rover 1 are shown in Figure 2.[5]
Lunar rover 1 also uses other methods to measure the physical and mechanical properties of the lunar surface. For example, by analyzing the wheel depth and lunar soil deformation characteristics of the lunar rover in its linear motion, and comparing with these indicators when turning, we can determine the structure and strength characteristics of the lunar rock surface.By comparing the data results of the penetrometer, Soviet scholars determined in detail the characteristics of lunar soil on the 10540m long route.
During driving, the lunar soil is compacted by the lunar wheel and bulges laterally.At this time, the lunar soil breaks, accompanied by cracks, notches, lumps and non collapsed twisted thin walls, which are typical characteristics of fine grained cohesive lunar soil.
Figure 3.49
The measurement of bearing capacity shows that the mechanical properties of lunar soil on the moving route of lunar rover are very uneven.The bearing capacity of the measurement site fluctuates between 20kPa and 100kPa, and the bearing capacity of some pit lips is significantly lower than that of the horizontal area and slope of the pit.Repeated bearing capacity measurement experiments for many times, and carried out data statistical processing. According to these data, the statistical distribution curve and histogram of soil bearing capacity values in the last month of a section of the route can be established (as shown in Figure 3.49).It can be seen from Fig. 3.49 that the bearing capacity of lunar soil is distributed unevenly.At the maximum distribution frequency of 0.46, the corresponding bearing capacity is 34kPa.According to the depth of the wheel and the deformation of the rear surface of the rover, the bearing capacity of the surface lunar soil is calculated, which is very small, up to 2kPa-3kPa.The measurement of the movement of the lunar soil layer with a thickness of 80mm-100mm shows that the lunar soil in this area has extremely high mechanical properties, with a bearing capacity of 100kPa.[5]
The results of the study on the physical and mechanical properties of lunar rock composition on the motion route of Lunar Rover 1 are shown in Figure 4.
Americans were deeply encouraged by the success of "Lunar Rover 1", so lunar rovers also appeared in their lunar exploration.On July 26, 1971, the Apollo 15 spacecraft sent the first American lunar rover to the moon. Unlike the "Lunar Rover 1", this is a manned lunar rover.Called "Voyager 1", this lunar rover is 3 meters long, 1.8 meters wide and weighs 209 kilograms.It is an automatic walking device with two seats and four wheels, powered by batteries, with a maximum speed of 16 kilometers per hour.Astronauts sat inside and drove it on the lunar surface. During the 27.9 km journey, they used cars instead of walking, climbed obstacles, climbed ravines, investigated mountains, canyons and volcanic craters, and sent exciting color images back to the ground.Later, the United States has many lunar rovers landing on the moon.[6]
