CN113834664B - Device and method for detecting passing performance and bearing capacity of unmanned star vehicle - Google Patents
Device and method for detecting passing performance and bearing capacity of unmanned star vehicle Download PDFInfo
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- CN113834664B CN113834664B CN202110962340.2A CN202110962340A CN113834664B CN 113834664 B CN113834664 B CN 113834664B CN 202110962340 A CN202110962340 A CN 202110962340A CN 113834664 B CN113834664 B CN 113834664B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000000725 suspension Substances 0.000 claims abstract description 31
- 230000000903 blocking effect Effects 0.000 claims abstract description 13
- 230000000149 penetrating effect Effects 0.000 claims abstract description 7
- 239000004575 stone Substances 0.000 claims description 33
- 239000002689 soil Substances 0.000 claims description 30
- 239000002245 particle Substances 0.000 claims description 14
- 235000019362 perlite Nutrition 0.000 claims description 6
- 239000010451 perlite Substances 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 5
- 238000012360 testing method Methods 0.000 abstract description 17
- 238000013461 design Methods 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000002159 abnormal effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention relates to a device and a method for detecting the trafficability and bearing capacity of an unmanned star vehicle, comprising the following steps: the multi-directional force sensor is arranged in each of the plurality of force measuring tables; force measuring columns penetrating through the table top of the force measuring table are fixed at the force measuring points of the plurality of multidirectional force sensors; the force-bearing units are detachably fixed on the force-measuring columns in a one-to-one correspondence manner and are used for bearing, blocking or blocking wheels of the unmanned star vehicle. The invention has novel design, simple structure, stable operation and accurate test, and the plurality of stress units can bear, block or block the wheels of the unmanned star vehicle by installing the plurality of stress units on the force measuring table, so that various conventional or extreme extraterrestrial star geographic environments can be simulated, further stress data of the wheels and the suspensions of the unmanned star vehicle in conventional and extreme states can be tested, and the design defects and defects of the unmanned star vehicle can be found on the ground.
Description
Technical Field
The invention relates to the field of a device for detecting trafficability of an unmanned star vehicle moving system, in particular to a device, a method and a method for detecting trafficability and bearing capacity of an unmanned star vehicle.
Background
The human is continuously exploring new unknowns, the exploration of the extraterrestrial star is never stopped, and the unmanned star vehicle is an important tool for the human to know the extraterrestrial star. At present, based on a large amount of unknown information such as star soil, star appearance and the like of the extraterrestrial star, a star vehicle generally adopts a 6-wheel low-speed vehicle so as to ensure the reliability and certain bearing capacity of a running system of the star vehicle.
The moving system of the unmanned star vehicle is generally optimized and fully tested, but the news report shows that the unmanned star vehicle frequently has a moving system fault, such as a running system fault of the unmanned star vehicle with the 'courage' in the mars running process.
The existing test mode of the moving system of the unmanned star vehicle is mainly completed on simulated star soil, according to test contents, different star appearances and stone blocks with different sizes are distributed to simulate the environment of the extraterrestrial star, in addition, a specific weight or a counterweight is additionally pulled on the unmanned star vehicle for measuring basic design checking, stress test and running verification of the unmanned star vehicle, and for extreme conditions such as the condition that wheels are clamped by stone plates, part of wheels are failed and the running on abnormal surfaces, no specific test device and test mode exist
How to provide a detection device capable of testing the trafficability and bearing capacity of wheels and suspensions in an unmanned star vehicle moving system under extreme conditions is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention provides a device and a method for detecting the trafficability and bearing capacity of an unmanned star vehicle, and solves the technical problem that the trafficability and bearing capacity of wheels and suspensions thereof in a moving system of the unmanned star vehicle under the extreme condition cannot be measured by the existing testing device.
The technical scheme for solving the technical problems is as follows: an unmanned star vehicle trafficability and bearing capacity detection device and method, comprising: a plurality of force measuring tables, a plurality of force receiving units and a data acquisition unit,
the inside of the plurality of force measuring tables is provided with a multidirectional force sensor; force measuring columns penetrating through the table top of the force measuring table are fixed at the force measuring points of the plurality of multidirectional force sensors; the force-bearing units are detachably fixed on the force-measuring columns in a one-to-one correspondence manner and are used for bearing, blocking or blocking wheels of the unmanned star vehicle; wheels of the unmanned star vehicle are rolled on a plurality of stress units one by one, so that the multi-directional force sensor can acquire stress data of the wheels of the unmanned star vehicle, the suspension in a conventional state and stress data in an extreme state; the data acquisition unit is electrically connected with the plurality of multidirectional force sensors to collect data acquired by the plurality of multidirectional force sensors.
The beneficial effects of the invention are as follows: the invention has novel design, simple structure, stable operation and accurate test, and the plurality of stress units can bear, block or block the wheels of the unmanned star vehicle by installing the plurality of stress units on the force measuring table, so that various conventional or extreme extraterrestrial star geographic environments can be simulated, further stress data of the wheels and the suspensions of the unmanned star vehicle in conventional and extreme states can be tested, and the design defects and defects of the unmanned star vehicle can be found on the ground.
Further, the method can further comprise the step of simulating star soil, wherein the simulated star soil is soil particles, the soil particles are piled among the plurality of force measuring tables and on the table top of the force measuring tables and distributed in a circular table shape with the plurality of force measuring tables, and the particles around the soil particles can provide supporting force for other soil particles, so that all the soil particles are conveniently placed in the space.
The adoption of the method has the further beneficial effects that: the simulated star soil is piled among the plurality of force measuring tables and on the table top, so that the geographic environment of the extraterrestrial star is simulated to the greatest extent, and the real extraterrestrial star geographic environment is provided for the test.
Further, the force measuring table may include a plurality of support legs, a bottom plate and a top plate, the bottom plate being fixed in parallel to upper portions of the plurality of support legs; the top plate is a table surface of the force measuring table and is fixed at the top ends of the supporting legs in parallel, and an accommodating space is defined between the top plate and the bottom plate; the multidirectional force sensor is positioned in the accommodating space and fixed on the bottom plate; the top plate is provided with a force measuring column passing hole corresponding to the multidirectional force sensor; the bottom end of the force measuring column is fixed on a force measuring point of the multidirectional force sensor, and the top end of the force measuring column penetrates through the force measuring column and is detachably fixed with the force receiving unit through a hole.
The adoption of the method has the further beneficial effects that: the multidirectional force sensor is arranged in the accommodating space, and is prevented from being covered by soil particles simulating star soil, so that the normal operation of the multidirectional force sensor can be ensured, and the service life of the multidirectional force sensor is prolonged.
Further, the top plate level of the plurality of force stations may be different.
The adoption of the method has the further beneficial effects that: the top plates of the plurality of force measuring tables are different in horizontal height, and can be matched with the star appearance of various extraterrestrial stars, so that different testing environments can be provided conveniently.
Further, the stress unit is one or more of a flat plate, a stone block and a shielding plate, and the flat plate is detachably fixed on the force measuring column and is used for bearing wheels of the unmanned star vehicle, so that the multidirectional force sensor can conveniently measure the bearing capacity and driving friction force of the wheels, the suspension in a moving system of the unmanned star vehicle at the moment of starting and after a certain distance of running; the stone block is detachably connected to the force measuring column and used for blocking wheels of the unmanned star vehicle so as to facilitate the multi-directional force sensor to measure the maximum bearing stress of the wheels and the suspension in the moving system of the unmanned star vehicle in a passing or clamping state; the shielding plate is of an L-shaped plate structure, one transverse plate surface of the shielding plate is detachably connected to the force measuring column, and the other vertical plate surface of the shielding plate blocks wheels of the unmanned star vehicle, so that the multidirectional force sensor can conveniently measure the anti-damage capability of the wheels and the suspension in the moving system after the unmanned star vehicle is blocked.
The adoption of the method has the further beneficial effects that: when the stress units are flat plates, the unmanned star vehicle rolls on the flat plates, the unmanned star vehicle is started, the wheels roll on the flat plates, and the multidirectional force sensor can measure the bearing capacity of the wheels and the suspension in the moving system and the driving friction force of the wheels and the suspension in the moving direction after the unmanned star vehicle starts instantly and runs for a certain distance; when the stress units are stone blocks, the stone blocks block the wheels, the unmanned star vehicle is started, the unmanned star vehicle passes through or is blocked in front of the stone blocks, and the multidirectional force sensor can measure the maximum bearing stress of the wheels and the suspension in the unmanned star vehicle moving system; when the stress units are the shielding plates with the L-shaped plate structures, the vertical plate surfaces of the shielding plates shield a single wheel, a front double wheel or a rear double wheel, the unmanned star vehicle is started, the wheels are blocked and cannot advance, and the multidirectional force sensor can measure the anti-damage capability of the wheels and the suspension in the unmanned star vehicle moving system after being blocked.
Further, the device can further comprise a plurality of mounting columns, the tops of the mounting columns are detachably fixed with the flat plate, the stone and the shielding plate respectively, and the bottoms of the mounting columns are detachably fixed with the force measuring columns.
Further, the stone can be one or two of basalt stone and perlite, and the basalt stone and the perlite are provided with drilled holes which are detachably fixed with the mounting columns.
Further, the upper surface of the plate is stuck with soil particles.
The adoption of the method has the further beneficial effects that: the geographic environment of the extraterrestrial star is simulated to the greatest extent.
The invention also provides a device and a method for detecting the trafficability and the bearing capacity of the unmanned star vehicle, wherein the method comprises the following steps:
step one: the simulated star soil is paved on the table tops of the plurality of force measuring tables;
step two: the plurality of stress units are fixed on a force measuring column penetrating through the force measuring table;
step three: wheels of the unmanned star vehicle are correspondingly pressed on the stress unit;
step four: the unmanned star vehicle is started, and the multi-directional force sensor can measure stress data of wheels and suspensions of the unmanned star vehicle.
Drawings
FIG. 1 is a schematic diagram of an apparatus and method for detecting the trafficability and bearing capacity of an unmanned star vehicle;
FIG. 2 is a schematic diagram of a force measuring table in an apparatus and method for detecting the trafficability and bearing capacity of an unmanned star vehicle;
FIG. 3 is a schematic view of a mounting plate structure in an apparatus and method for detecting the trafficability and bearing capacity of an unmanned star vehicle;
FIG. 4 is a schematic diagram of a stone installation structure in a device and method for detecting the trafficability and bearing capacity of an unmanned star vehicle;
FIG. 5 is a schematic view of a structure of a shielding plate installed in a device and a method for detecting trafficability and bearing capacity of an unmanned star vehicle;
FIG. 6 is a schematic diagram of a device and method for testing the trafficability and bearing capacity of an unmanned star vehicle;
FIG. 7 is a schematic diagram of a simulated stone star appearance test in an apparatus and method for detecting the trafficability and bearing capacity of an unmanned star vehicle;
FIG. 8 is a schematic diagram of a simulated composite star appearance test in an apparatus and method for detecting the trafficability and bearing capacity of an unmanned star vehicle according to the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. the device comprises an unmanned star vehicle, 11, a suspension, 12, wheels, 2, a force measuring table, 21, a top plate, 22, a bottom plate, 23, supporting legs, 24, a multidirectional force sensor, 25, a force measuring column, 26, a signal wire, 3, a force receiving unit, 31, a mounting column, 4, a flat plate, 5, a stone block, 6, a shielding plate, 7, a data acquisition unit, 8 and simulated star soil.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
As shown in fig. 1, a device and a method for detecting trafficability and bearing capacity of an unmanned star vehicle, comprising: a plurality of force measuring tables 2, a plurality of force receiving units 3 and a data acquisition unit 7,
the inside of the plurality of force measuring tables 2 is provided with a multi-directional force sensor 24; force measuring columns 25 penetrating through the table top of the force measuring table 2 are fixed to the force measuring points of the plurality of multidirectional force sensors 24; the force units 3 are detachably fixed on the force measuring columns 25 in a one-to-one correspondence manner and are used for bearing, blocking or blocking the wheels 12 of the unmanned star vehicle 1; wheels 12 of the unmanned star vehicle 1 are rolled on the stress units 3 one by one, so that the multidirectional force sensor 24 acquires stress data of the wheels 12 of the unmanned star vehicle 1, the suspension 11 in a normal state and stress data in an extreme state; the data acquisition unit 7 is electrically connected with the plurality of multi-directional force sensors 24 to collect data acquired by the plurality of multi-directional force sensors 24.
In some embodiments, the test device further comprises simulated star soil 8, wherein the simulated star soil 8 is soil particles, the soil particles are piled among the plurality of force measuring tables 2 and on the table top of the force measuring tables, the geographic environment of the extraterrestrial star is simulated to the greatest extent, and the real extraterrestrial star geographic environment is provided for the test.
In some embodiments, the force measuring platform 2 comprises a plurality of support legs 23, a bottom plate 22 and a top plate 21, wherein the bottom plate 22 is fixed on the upper parts of the plurality of support legs 23 in parallel; the top plate 21 is a table surface of the force measuring table 2 and is fixed at the top ends of a plurality of supporting legs 23 in parallel, and an accommodating space is defined between the top plate and the bottom plate 22; the multidirectional force sensor 24 is located in the accommodating space and is fixed on the bottom plate 22; the top plate 21 is provided with a force measuring column passing hole corresponding to the multidirectional force sensor 24; the bottom end of the force measuring column 25 is fixed on a force measuring point of the multi-directional force sensor 24, and the top end of the force measuring column passes through the force measuring column and is detachably fixed with the force receiving unit 3 through a hole.
In some embodiments, the top plate 21 of the force stations 2 is not of the same horizontal height.
In some embodiments, the stress unit 3 is one or more of a flat plate 4, a stone 5 and a shielding plate 6, the flat plate 4 is detachably fixed on a force measuring column 25 and is used for bearing the wheels 12 of the unmanned star vehicle 1, so that the multidirectional force sensor 24 can measure the bearing capacity and driving friction force of the wheels 12 and the suspension 11 in a moving system of the unmanned star vehicle 1 at the moment of starting and after a certain distance of running; the stone 5 is detachably connected to the force measuring column 25 and is used for blocking the wheels 12 of the unmanned star vehicle 1 so that the multidirectional force sensor 24 can measure the maximum bearing stress of the wheels 12 and the suspension 11 in the moving system of the unmanned star vehicle 1 in a passing or clamping state; the shielding plate 6 is of an L-shaped plate structure, one transverse plate surface of the shielding plate is detachably connected to the force measuring column 25, and the other vertical plate surface is used for blocking the wheels 12 of the unmanned star vehicle 1, so that the multidirectional force sensor 24 can conveniently measure the anti-damage capability of the wheels 12 and the suspension 11 in the moving system after the unmanned star vehicle 1 is blocked;
when the stress units 3 are all flat plates 4, the unmanned star vehicle 1 is rolled on the flat plates 4, the unmanned star vehicle 1 is started, the wheels 12 are rolled on the flat plates 4, and the multidirectional force sensor 24 can measure the bearing capacity of the wheels 12 and the suspension 11 in the moving system and the driving friction force of the wheels 12 and the suspension in the running direction of the unmanned star vehicle 1 at the moment of starting and after a certain distance; when the stress units 4 are all stones 5, the stones 5 obstruct the wheels, the unmanned star vehicle 1 is started, the unmanned star vehicle 1 passes through or is blocked in front of the stones 5, and the multi-directional force sensor 24 can measure the maximum bearing stress of the wheels 12 and the suspension 11 in the moving system of the unmanned star vehicle 1; when the stress units 3 are all shielding plates 6 with L-shaped plate structures, the vertical plate surfaces of the shielding plates 6 shield single wheels, front double wheels or rear double wheels, the unmanned star vehicle 1 is started, the wheels 12 are blocked and cannot advance, and the multidirectional force sensor 24 can measure the anti-damage capacity of the wheels 12 and the suspensions 11 in the moving system of the unmanned star vehicle 1 after being blocked.
In some embodiments, the device further comprises a plurality of mounting posts 31, wherein the top of the plurality of mounting posts 31 is detachably fixed to the slab 4, the stone 5 and the shielding plate 6, and the bottom of the plurality of mounting posts 31 is detachably fixed to the force measuring post 25.
In some embodiments, the stone 5 is one or both of basalt stone and perlite, and the basalt stone and the perlite are provided with a borehole, which is detachably fixed to the mounting post 31.
In some embodiments, the upper surface of the plate 4 is coated with soil particles
The invention also provides a device and a method for detecting the trafficability and the bearing capacity of the unmanned star vehicle, wherein the method comprises the following steps:
step one: the simulated star soil 8 is paved on the table top of the plurality of force measuring tables 2;
step two: a plurality of force-bearing units 3 are fixed on force-measuring columns 25 penetrating the force-measuring table 2;
step three: wheels 12 of the unmanned star vehicle 1 are correspondingly pressed on the stress unit 3;
step four: the unmanned star vehicle 1 is started, and the multi-directional force sensor 24 can measure stress data of the wheels 12 and the suspension 11 of the unmanned star vehicle 1.
As shown in fig. 1, example 1: placing the simulated star soil 8 and stacking the simulated star soil into a round table shape, digging a plurality of force measuring table placing holes according to the number of wheels 12 of the test unmanned star vehicle 1, placing force measuring tables 2 with the same number as the number of the wheels 12 of the unmanned star vehicle 1, and backfilling the simulated star soil to cover the table surface of the force measuring tables 2; the flat plates 4 with the same number as the force measuring tables 2 are arranged, the wheels 12 of the unmanned star vehicle 1 are rolled on the flat plates 4 in a one-to-one correspondence manner, the unmanned star vehicle 1 is started, and the multi-directional force sensor 24 measures the bearing capacity and driving direction driving friction force of the wheels 12 and the suspension 11 in a moving system after the starting moment and the running distance of the unmanned star vehicle 1.
Example 2: the same steps are not repeated, stone blocks 5 with the same number as the force measuring tables 2 are installed, the wheels 12 of the unmanned star vehicle 1 are placed in front of the stone blocks 5 in a one-to-one correspondence mode, the unmanned star vehicle 1 is started, the unmanned star vehicle 1 passes through the stone blocks 5 or is blocked by the stone blocks 5, and the maximum bearing stress of the wheels 12 and the suspensions 11 in the moving system of the unmanned star vehicle 1 is measured by the multidirectional force sensor 24.
Example 3: the same steps are not repeated, one or 2 shielding plates 6 are arranged on the force measuring platform 2, the shielding plates 6 are positioned on the front wheels or the rear wheels of the unmanned star vehicle 1, the flat plates 4 are arranged on the rest of the force measuring platform 2, the unmanned star vehicle 1 is started, the unmanned star vehicle 1 is blocked, and the maximum anti-damage capability of the wheels 12 and the suspensions 11 in the unmanned star vehicle moving system is measured by the multi-directional force sensor 24.
The foregoing is only illustrative of the present invention and is not to be construed as limiting thereof, but rather as various modifications, equivalent arrangements, improvements, etc., within the spirit and principles of the present invention.
Claims (7)
1. The utility model provides a detection device of unmanned star car trafficability characteristic and bearing capacity which characterized in that includes: a plurality of force measuring tables (2), a plurality of force receiving units (3) and a data acquisition unit (7),
a plurality of force measuring tables (2) are internally provided with a multidirectional force sensor (24); force measuring columns (25) penetrating through the table top of the force measuring table (2) are fixed at the force measuring points of the multi-directional force sensors (24); the stress units (3) are detachably fixed on the force measuring columns (25) in a one-to-one correspondence manner and are used for bearing, blocking or blocking wheels (12) of the unmanned star vehicle (1); wheels (12) of the unmanned star vehicle (1) are rolled on the stress units (3) one by one, so that the multidirectional force sensor (24) can acquire stress data of the wheels (12) of the unmanned star vehicle (1), the suspension (11) in a normal state and stress data in an extreme state; the data acquisition unit (7) is electrically connected with a plurality of the multidirectional force sensors (24) to collect data acquired by the plurality of the multidirectional force sensors (24);
the device also comprises simulated star soil (8), wherein the simulated star soil (8) is soil particles, and the soil particles are piled among a plurality of force measuring tables (2) and on the table top of the force measuring tables;
the force-bearing unit (3) is one or more of a flat plate (4), a stone (5) and a shielding plate (6), the flat plate (4) is detachably fixed on the force-measuring column (25) and is used for bearing the wheels (12) of the unmanned star vehicle (1), so that the multidirectional force sensor (24) can conveniently measure the bearing capacity and driving friction force of the wheels (12) and the suspension (11) in a moving system of the unmanned star vehicle (1) at the moment of starting and after a certain distance of running; the stone (5) is detachably connected to the force measuring column (25) and is used for blocking the wheels (12) of the unmanned star vehicle (1) so that the multidirectional force sensor (24) can measure the maximum bearing stress of the wheels (12) and the suspension (11) in a moving system of the unmanned star vehicle (1) in a passing or clamping state; the shielding plate (6) is of an L-shaped plate structure, one transverse plate surface of the shielding plate is detachably connected to the force measuring column (25), the other transverse plate surface of the shielding plate is used for blocking the wheels (12) of the unmanned star vehicle (1), so that the multidirectional force sensor (24) can conveniently measure the anti-damage capacity of the wheels (12) and the suspensions (11) in a moving system of the shielding plate after the unmanned star vehicle (1) is blocked.
2. The device for detecting the trafficability and bearing capacity of an unmanned star vehicle according to claim 1, wherein the force measuring table (2) comprises a plurality of supporting legs (23), a bottom plate (22) and a top plate (21), and the bottom plate (22) is fixed on the upper parts of the supporting legs (23) in parallel; the top plate (21) is a table surface of the force measuring table (2) and is fixed at the top ends of the supporting legs (23) in parallel, and an accommodating space is defined between the top plate and the bottom plate (22); the multidirectional force sensor (24) is positioned in the accommodating space and is fixed on the bottom plate (22); the top plate (21) is provided with a force measuring column passing hole corresponding to the multidirectional force sensor (24); the bottom end of the force measuring column (25) is fixed on a force measuring point of the multidirectional force sensor (24), and the top end of the force measuring column penetrates through the force measuring column and is detachably fixed with the force receiving unit (3).
3. The device for detecting the trafficability and bearing capacity of an unmanned star vehicle according to claim 2, wherein the top plates (21) of the plurality of force measuring tables (2) are different in horizontal height.
4. The device for detecting the trafficability and bearing capacity of an unmanned star vehicle according to claim 1, further comprising a plurality of mounting posts (31), wherein the tops of the mounting posts (31) are detachably fixed to the flat plate (4), the stone block (5) and the shielding plate (6), and the bottoms of the mounting posts are detachably fixed to the force measuring posts (25).
5. The unmanned star vehicle passing and bearing capacity detection device according to claim 4, wherein the stone (5) is one or two of basalt stone and perlite, and the basalt stone and the perlite are provided with drilled holes, and the drilled holes and the mounting posts (31) are detachably fixed.
6. The device for detecting the trafficability and bearing capacity of an unmanned star vehicle according to claim 1, wherein the upper surface of the flat plate (4) is stuck with soil particles.
7. The method for detecting the passing and bearing capacity detection device of the unmanned star vehicle according to any one of the claims 1 to 6, wherein,
step one: the simulated star soil (8) is paved on the table tops of the plurality of force measuring tables (2) ；
Step two: a plurality of force units (3) are fixed on the force measuring column (25) penetrating through the force measuring table (2);
step three: the wheels (12) of the unmanned star vehicle (1) are correspondingly pressed on the stress unit (3);
step four: -starting the unmanned star vehicle (1), the multidirectional force sensor (24) being able to measure the stress data of the wheels (12), the suspensions (11) of the unmanned star vehicle (1).
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