CN116853520A - Reconfigurable lunar soil collection and screening robot with wheels, working methods and control system - Google Patents

Abstract

The invention discloses a lunar soil collecting and screening robot with reconfigurable wheel feet and a working method thereof, and belongs to the field of lunar soil collecting and screening robots. The robot includes: a vehicle body, a wheel foot reconfigurable chassis and a drum-type bucket; the wheel foot reconfigurable chassis is provided with a plurality of reconfigurable wheel feet which are distributed around a vehicle body, and the reconfigurable wheel feet comprise a first arm section basic arm, a first arm section telescopic arm, a second arm section telescopic arm, an omnidirectional wheel and claw type foot ends; the first arm section basic arm and the first arm section telescopic arm are mutually hinged and are connected with the vehicle body; one end of the second arm section telescopic arm is hinged to the first arm section basic arm, and the other end of the second arm section telescopic arm is connected with the claw type foot end; the omnidirectional wheel is arranged on the first arm section basic arm; the plurality of drum buckets are coupled to the vehicle body via a plurality of base arms in a dispersed manner. Aiming at the characteristics of complex lunar environment and high terrain exploration difficulty, the wheel foot reconfigurable design can effectively solve the problem that the robot is trapped in complex terrain.

Description

Reconfigurable lunar soil collection and screening robot with wheels, working methods and control system

Technical field

The invention belongs to the field of lunar soil collection and screening robots, and more specifically, relates to a lunar soil collection and screening robot with reconfigurable wheels and a working method thereof.

Background technique

In the study of the lunar in-situ construction plan, the collection and utilization of in-situ resources on the lunar surface has become a major technical problem. Research shows that resources such as water ice and floating soil present in the lunar regolith contain many elements in the form of metals, minerals, volatiles and other compounds. Most importantly, propellants such as oxygen and hydrogen can be extracted from water ice and floating soil. , and then used for space transportation. Therefore, it is necessary to design a lunar robot to complete the collection and screening of lunar soil.

However, due to the variable terrain of the lunar surface, the range of activities of traditional wheeled and crawler-type in-situ collection robots is limited, which also greatly limits the scope of work for in-situ collection of lunar soil. Therefore, there is also a need for a lunar robot that can adapt to different terrains.

Contents of the invention

In view of the above defects or improvement needs of the existing technology, the present invention provides a lunar soil collection and screening robot with reconfigurable wheels, a working method and a control system. The purpose is to switch between wheeled feet and claw feet. Structural design to solve the problem of terrain adaptation of lunar robots.

In order to achieve the above object, according to one aspect of the present invention, a lunar soil collection and screening robot with reconfigurable wheels is provided, including: a body, a chassis with reconfigurable wheels and a drum bucket;

The wheel base reconfigurable chassis has a plurality of reconfigurable wheel bases dispersedly arranged around the vehicle body. The reconfigurable wheel base includes a first arm section basic arm, a first arm section telescopic arm, and a second arm section telescopic arm. Arm, omnidirectional wheel and claw foot end; the basic arm of the first arm section and the telescopic arm of the first arm section are hinged to each other, and both are connected to the vehicle body; one end of the telescopic arm of the second arm section is hinged to the basic arm of the first arm section. The other end is connected to the claw foot end; the omnidirectional wheel is installed on the basic arm of the first arm section;

Multiple drum buckets are connected to the vehicle body through multiple basic arms.

Further, the first arm section basic arm and the first arm section telescopic arm are rotatably connected to the vehicle body, and the second arm section telescopic arm is rotatably hinged to the first arm section basic arm.

Further, the omnidirectional wheel is installed on the hinged body of the basic arm of the first arm section and the telescopic arm of the second arm section.

Further, the drum bucket includes a shell, a central shaft provided in the shell, at least two buckets, at least two spiral blades and at least two controllable baffles;

The spiral blades and controllable baffles are installed symmetrically on the central axis. Each spiral blade originates from the outside of one bucket, joins the outside of the bucket, and extends spirally toward the inside of another adjacent bucket. A spiral channel is formed inside the adjacent bucket; a controllable baffle is located at the end of the spiral channel to control the opening and closing of the spiral channel.

Furthermore, a controllable filter is installed on the inner wall of the spiral channel as a lunar soil screening mechanism.

Further, for multiple drum buckets, the spiral blades of the drum buckets located on the same side of the vehicle body have the same direction of rotation, and the spiral blades of the drum buckets located on opposite sides of the vehicle body have opposite directions.

According to another aspect of the present invention, a working method of a lunar soil collection and screening robot with reconfigurable wheels is provided. The lunar soil collection and screening robot has two movement modes. When the lunar surface is relatively flat, The telescopic arm of the second arm section is raised, and the omnidirectional wheels are in contact with the lunar soil. The wheel structure is used as the moving mechanism to carry out the traveling work; when encountering obstacles that are difficult to cross, the robot wheels are reconstructed and the foot structure is used as the moving mechanism. To move the mechanism over rocks or across ditches, the reconstruction steps are as follows:

(S1) The basic arm of the first boom section is raised and the vehicle body touches the ground;

(S2) The telescopic arm of the first arm segment extends, the telescopic arm of the second arm segment extends outward and descends, and the claw-like foot end contacts the lunar soil;

(S3) The drum bucket is lowered through the basic arm between the drum bucket and the body. The drum bucket contacts the lunar soil and supports the entire body. The telescopic arm of the first arm section drives the telescopic arm of the second arm section and the claw arm. The toes are adducted, and the claw-like toes support the body;

(S4) The drum bucket is raised and the claw foot is used as a moving mechanism to cross the obstacle.

Further, the lunar soil collection and screening process is as follows:

(S1) During excavation operations, the basic arm is used to control the drum bucket to descend to contact the lunar soil. The screening mechanism in the drum bucket is closed, and all drum buckets rotate forward. Since the drum bucket located on the same side of the body The spiral blades of the buckets rotate in the same direction, and the spiral blades of the drum buckets located on opposite sides of the vehicle body rotate in opposite directions. When each drum bucket rotates forward, the axial forces generated cancel each other out to prevent the vehicle body from moving;

(S2) As the excavation process proceeds, the drum bucket continues to descend to excavate deeper lunar soil. The lunar soil is transported to the interior through the spiral channel of the drum bucket. At the same time, the controllable baffle is open, and the lunar soil is in the drum. The inside of the bucket continues to be transported through the inner spiral structure to ensure the filling rate;

(S3) When the excavation operation is completed, the basic arm of the body is used to control the lifting of the drum bucket. The screening mechanism in the drum bucket is opened, the filter screen on the inner wall of the spiral channel is exposed, the controllable baffle is closed, and the drum bucket is By rotating in the opposite direction, the lunar soil filled in the drum bucket is screened by the filter. The lunar soil components that do not meet the particle size requirements remain inside the drum bucket, and the lunar soil that requires the composite particle size is poured out through the spiral channel.

According to another aspect of the present invention, a control system for a lunar soil collection and screening robot with reconfigurable wheels and feet is provided, which is used to control the lunar soil collection and screening robot with reconfigurable wheels and feet as described in the previous item. , including environment sensing mechanism, motion control mechanism, lunar soil characterization testing mechanism, lunar soil excavation and screening control mechanism;

The environment perception mechanism includes binocular stereo camera A and binocular stereo camera B; it detects obstacles, obtains three-dimensional terrain information and helps navigation through the binocular stereo camera on the side of the vehicle body and the binocular stereo camera between the drum bucket and the vehicle body;

The motion control mechanism obtains the linear velocity, angular velocity and voltage data of the robot based on the sensors in the body, and combines it with the three-dimensional terrain information obtained by the environment sensing mechanism to control the movement speed and state; among them, when driving on gentle terrain, the motion control mechanism Issue instructions to use universal wheels for wheeled travel; when driving in complex terrain or encountering obstacles, the motion control mechanism issues instructions to reconstruct the wheel feet and use claw-type feet to travel on feet to get out of trouble;

The lunar soil characterization and testing institution is used to conduct in-situ characterization testing of the lunar soil components in the collection area before collection, and select lunar soil containing water ice and floating soil materials for collection;

The lunar soil excavation and screening control mechanism is used to evaluate the status of the excavation operation. When the drum filling amount reaches the loading threshold, the mechanism issues a stop excavation command and performs lunar soil screening.

Further, the environment sensing mechanism acquires images from a binocular stereo camera, performs image processing by the environment sensing mechanism, corrects the three-dimensional point cloud data, reconstructs the three-dimensional terrain, plans the robot's travel route on its own based on the three-dimensional terrain information, and controls the robot to travel according to the designated planned route. ;

The lunar soil characterization test mechanism includes a spectrometer mechanism located in the vehicle body. The spectrometer mechanism inverts the spectral intensity of the characteristic spectrum band of the lunar soil at the target location, and uses the spectral characteristics to identify whether it contains water ice or floating soil; if it contains water ice or floating soil, it is determined by The lunar soil excavation and screening control mechanism will perform the next excavation task, otherwise the motion control mechanism will re-plan the travel route and find a suitable excavation area.

Generally speaking, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

1. In view of the complex lunar environment and the difficulty of terrain exploration, the reconfigurable wheel foot design can effectively solve the problem of robots being trapped in complex terrain. The claw foot and the universal wheel in the present invention are structurally relatively independent, can be independently controlled, and have high fault tolerance, and the first arm section basic arm, the first arm section telescopic arm and the vehicle body form a rotatable and telescopic triangle bracket structure, which is flexible At the same time, the structure is also more stable.

2. The drum bucket of the present invention uses forward and reverse rotation of the spiral blades and a controllable baffle to perform opening and closing operations, and can realize integrated operations of lunar soil excavation, storage, transfer, and dumping.

3. Integrating a filter on the inner wall of the spiral channel of the drum bucket can further increase the screening and filtering function and ensure that the collected lunar soil is usable.

4. The drum-type bucket adopts a counter-rotating excavation design on both sides of the body, which can offset the axial force of the drums on the front and rear sides. At the same time, the bucket design can maintain a small cutting force, which better solves the problem of high density of lunar soil and excavation. The problem of low stability of the robot's working body.

5. The lunar soil characterization and testing agency uses spectrometer detection to conduct in-situ testing and characterization of lunar soil before collection, and collects lunar soil containing water ice, floating soil and other substances, which greatly improves the efficiency and quality of resource collection.

6. During the process of wheel foot reconstruction, each joint arm moves in conjunction with the lowering and raising of the body, which can reduce the burden of the body's own weight on the drive system of each joint arm during the wheel foot reconstruction process and ensure the stable operation of the robot.

Description of the drawings

Figure 1 is a side view of a lunar soil collection and screening robot with reconfigurable wheels according to the present invention;

Figure 2 is a top view of a lunar soil collection and screening robot with reconfigurable wheels according to the present invention;

Figure 3 is an internal side view of the drum bucket of the present invention;

Figure 4 is a side view of the wheel legs of the lunar soil collection and screening robot in a reconstructed state according to the present invention;

Figure 5 is the excavation operation state of the lunar soil collection and screening robot according to the present invention (the wheel legs are omitted);

Figure 6 is a three-dimensional schematic diagram of the interior of the drum bucket in the excavation operation state of the present invention;

Figure 7 is a three-dimensional schematic diagram of the interior of the drum bucket in the screening operation state of the present invention;

Figure 8 is a schematic diagram of the wheel foot reconstruction steps of the lunar soil collection and screening robot of the present invention;

Figure 9 is a schematic diagram of the excavation and screening steps of the lunar soil collection and screening robot of the present invention.

Throughout the drawings, the same reference numbers refer to the same elements or structures, wherein:

1-Basic arm of the first boom section, 2-Telescopic arm of the first boom section, 3-Telescopic arm of the second boom section, 4-Omni-directional wheel, 5-Claw foot end, 6-Body, 7-Roller bucket , 8-binocular stereo camera A, 9-binocular stereo camera B, 10-bucket, 11-basic arm, 12-spiral channel, 13-controllable baffle, 14-inner wall of spiral channel.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

The present invention provides a lunar soil collection and screening robot with reconfigurable wheels, which is characterized in that, as shown in Figures 1 and 2, it includes:

Body, wheel-foot reconfigurable chassis and roller bucket; the wheel-foot reconfigurable chassis adopts a four-wheel structure, including a first basic arm section 1, a first arm section telescopic arm 2, and a second arm section telescopic arm 3. Omni-directional wheel 4 and claw foot end 5, the basic arm 1 of the first boom section, the telescopic arm 2 of the first boom section are connected to the body 6, the hinge joint between the basic arm 1 of the first boom section and the telescopic arm 3 of the second boom section It is connected to the omnidirectional wheel 4, and the telescopic arm 3 of the second arm section is connected to the claw foot end 5; the four roller buckets 7 are connected to the body 6 through the basic arm 11, and are respectively located at the left front, left rear, and left side of the body 6. Right front, right rear.

The wheel-foot reconfigurable mechanism and working method are characterized by:

The first boom section basic arm 1 and the first boom section telescopic arm 2 are connected to the vehicle body 6 in an omnidirectional rotation manner. The second boom section telescopic arm 3 is rotatably hinged to the first boom section basic arm 1. The omnidirectional wheel 4 is connected at the hinged body of the basic arm 1 of the first arm section and the telescopic arm 3 of the second arm section, and the telescopic arm 3 of the second arm section is connected to the claw foot end 5; the lunar soil collection and screening robot has two movement modes , when the lunar surface is relatively flat, the telescopic arm 3 of the second arm section is raised, the omnidirectional wheel 4 is in contact with the lunar soil, and the wheeled structure is used as a moving mechanism to perform traveling work; when encountering an obstacle that is difficult to cross, the robot The wheel legs are reconstructed, and the foot structure is used as a moving mechanism to climb over rocks or cross ditches, as shown in Figure 4. The specific steps of the reconstruction process are as follows:

(S1) The basic arm 1 of the first boom section is raised and the body 6 touches the ground;

(S2) The telescopic arm 2 of the first arm segment extends, the telescopic arm 3 of the second arm segment extends outward and descends, and the claw foot end 5 contacts the lunar soil;

(S3) The drum bucket 7 is lowered through the basic arm 11 between the drum bucket 7 and the body 6. The drum bucket 7 contacts the lunar soil and supports the entire body 6. The telescopic arm 2 of the first arm section drives the second arm. The telescopic arm 3 and the claw foot 5 are retracted, and the claw foot 5 supports the vehicle body 6;

(S4) The drum bucket 7 is lifted, and the claw foot 5 is used as a moving mechanism to cross the obstacle;

The drum bucket 7 and its working method are characterized by:

Spiral blades are installed on the outside of the drum. The spiral directions of the left and right front drums are opposite. The spiral directions of the left and rear right drums are also opposite. The spiral directions of the front and rear drums are mirror images. Each drum is divided into five grooves of equal width, and each groove is divided into five grooves. Two buckets 10 are provided in the groove, and the relative positions of the buckets 10 in each groove are different to ensure that at least two to three buckets 10 are in contact with the lunar soil during excavation operations; spiral blades are also provided on the inside of the drum, and the inner and outer spirals form a spiral channel 12. A controllable filter is provided inside the spiral channel 12 as a lunar soil screening mechanism, and a controllable baffle 13 is provided at the end of the spiral channel;

The specific working methods are as follows:

(S1) During the excavation operation, the basic arm of the body 6 controls the drum bucket 7 to descend to contact the lunar soil, the screening mechanism is closed, and the four drum buckets 7 rotate forward, and the left and right front drum buckets The rotation direction is the same, the left and right rear drum buckets rotate in opposite directions, and the drum buckets on the front and rear sides rotate in mirror images to ensure that the axial forces of the front and rear drums cancel each other out;

(S2) As the excavation process proceeds, the drum bucket 7 continues to descend to excavate deeper lunar soil. The lunar soil will be pushed to the bucket by the outer spiral structure through the drum bucket 7 and transported to the inside of the drum through the spiral channel 12 , the controllable baffle 13 is in an open state, as shown in the figure, the soil continues to be transported inside the drum through the inner spiral structure, ensuring a high filling rate;

(S3) When the excavation operation is completed, the drum bucket 7 is controlled to lift through the basic arm of the body 6, the screening mechanism is opened, the inner wall 14 of the spiral channel forms a filter, and the controllable baffle 13 is closed, as shown in Figure 7. The four drum buckets 7 rotate in opposite directions, and the lunar soil excavated in the drum is transported to the spiral channel mouth through the inner screw mechanism, and is screened by the filter. Water ice, floating soil, etc. with larger particle sizes remain inside the drum, and the particles The smaller diameter regolith lunar soil is dumped out.

The invention provides a lunar soil collection and screening robot control system with reconfigurable wheels, which mainly includes an environment sensing mechanism, a motion control mechanism, a lunar soil characterization and testing mechanism, and a lunar soil excavation and screening control mechanism. It is characterized by:

The environment sensing mechanism detects obstacles and helps navigation through the binocular stereo camera A8 on the side of the body 6 and the binocular stereo camera B9 between the drum bucket 7 and the body 6. Specifically, the binocular stereo camera acquires images and the environment The sensing mechanism performs image processing, corrects the three-dimensional point cloud data, reconstructs the three-dimensional terrain, plans the robot's route according to the three-dimensional terrain information, and controls the robot to travel according to the designated planned route;

The motion control mechanism obtains the robot's linear velocity, angular velocity, voltage and other data based on the sensors in the body 6, and combines the three-dimensional terrain information obtained by the environment sensing mechanism to control the movement speed and state; especially when the robot has difficulty traveling in complex terrain At this time, the motion control mechanism will control the robot to reconstruct its wheels and feet to get out of the predicament;

The purpose of the lunar soil characterization and testing mechanism is to estimate the composition of the lunar soil in the collection area before collection, conduct in-situ characterization tests, and collect lunar soil containing water ice, floating soil and other substances; specifically, a spectrometer mechanism is set up in the body 6, The spectral intensity of the characteristic spectrum section of the lunar soil at the target location is inverted, and the spectral characteristics are used to identify whether it contains water ice, floating soil and other materials; if it contains water ice, floating soil and other materials, the lunar soil collection and screening robot will perform the next step of the excavation task. Otherwise, the travel route will be re-planned to find a suitable excavation area;

The lunar soil excavation and screening control mechanism mainly uses sensors to evaluate the status of the excavation operation. When the drum filling amount reaches the loading threshold, the mechanism issues a stop excavation command and controls the screening system to screen the lunar soil.

It is easy for those skilled in the art to understand that the above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements, etc., made within the spirit and principles of the present invention, All should be included in the protection scope of the present invention.

Claims (10)

1. Lunar soil collecting and screening robot with reconfigurable wheel feet is characterized by comprising: a vehicle body (6), a wheel foot reconfigurable chassis and a drum-type bucket (7);

the wheel foot reconfigurable chassis is provided with a plurality of reconfigurable wheel feet which are distributed and arranged around a vehicle body (6), and the reconfigurable wheel feet comprise a first arm section basic arm (1), a first arm section telescopic arm (2), a second arm section telescopic arm (3), an omnidirectional wheel (4) and a claw type foot end (5); the first arm section basic arm (1) and the first arm section telescopic arm (2) are hinged with each other and are connected with the vehicle body (6); one end of the second arm section telescopic arm (3) is hinged to the first arm section basic arm (1), and the other end of the second arm section telescopic arm is connected with the claw type foot end (5); the omnidirectional wheel (4) is arranged on the first arm section basic arm (1);

a plurality of drum type buckets (7) are connected to a vehicle body (6) in a dispersed manner by a plurality of base arms (11).

2. The lunar soil harvesting and screening robot with reconfigurable wheel feet according to claim 1, wherein the first arm section basic arm (1) and the first arm section telescopic arm (2) are connected to the vehicle body (6) in an omni-directional rotation manner, and the second arm section telescopic arm (3) is hinged to the first arm section basic arm (1) in a rotation manner.

3. The lunar soil harvesting and screening robot with reconfigurable wheel feet according to claim 1, wherein the omni wheel (4) is mounted on the hinge body of the first arm section basic arm (1) and the second arm section telescopic arm (3).

4. A lunar soil harvesting and screening robot with reconfigurable wheel foot according to claim 1, characterized in that the drum bucket (7) comprises a housing, and a central shaft, at least two buckets (10), at least two helical blades and at least two controllable baffles (13) provided in the housing;

the spiral blades and the controllable baffles (13) are symmetrically arranged on the central shaft in a one-to-one correspondence manner, and each spiral blade is started from the outer side of one bucket (10) and is combined with the outer side of the bucket (10) to spirally extend towards the inner side of the other adjacent bucket (10), so that a section of spiral channel (12) is formed with the inner side of the adjacent bucket (10); the controllable baffle (13) is positioned at the tail end of the spiral channel (12) to control the opening and closing of the spiral channel (12).

5. The lunar soil collecting and screening robot with reconfigurable wheel legs according to claim 4, wherein a controllable filter screen is arranged on the inner wall of the spiral channel (12) as a lunar soil screening mechanism.

6. The lunar soil harvesting and screening robot with reconfigurable wheel legs according to claim 4, wherein the spiral blades of the drum type scoops (7) positioned on the same side of the vehicle body (6) are rotated in the same direction, and the spiral blades of the drum type scoops (7) positioned on opposite sides of the vehicle body (6) are rotated in opposite directions.

7. The working method of the lunar soil collecting and screening robot with reconfigurable wheel feet according to any one of claims 1 to 6, wherein the lunar soil collecting and screening robot has two moving modes, when the flatness of the lunar surface is high, the second arm section telescopic arm (3) is lifted, the omnidirectional wheel (4) is contacted with the lunar soil, and the wheel structure is used as a moving mechanism for advancing work; when encountering an obstacle which is harder to cross, the robot wheel foot is reconstructed, the foot type structure is used as a moving mechanism to cross rocks or cross ditches, and the reconstruction steps are as follows:

(S1) lifting a first arm section basic arm (1) and grounding a vehicle body (6);

(S2) the first arm section telescopic arm (2) stretches, the second arm section telescopic arm (3) stretches outwards and descends, and the claw type foot end (5) contacts lunar soil;

(S3) the drum-type bucket (7) descends through a basic arm (11) between the drum-type bucket (7) and the car body (6), the drum-type bucket (7) contacts lunar soil and supports the whole car body (6), the first arm section telescopic arm (2) drives the second arm section telescopic arm (3) and the claw-type foot end (5) to retract, and the claw-type foot end (5) supports the car body (6);

(S4) lifting the drum-type bucket (7) and crossing the obstacle by taking the claw-type foot end (5) as a moving mechanism.

8. The working method of the lunar soil collecting and screening robot with reconfigurable wheel legs according to claim 7, wherein the lunar soil collecting and screening process is as follows:

(S1) during excavating operation, the basic arm (11) controls the roller type bucket (7) to descend to contact lunar soil, the screening mechanism in the roller type bucket (7) is closed, the roller type bucket (7) rotates in the positive direction, the spiral blades of the roller type bucket (7) positioned on the same side of the vehicle body (6) rotate in the same direction, the spiral blades of the roller type bucket (7) positioned on the two opposite sides of the vehicle body (6) rotate in opposite directions, and when the roller type bucket (7) rotates in the positive direction, the axial force generated by the forward direction of each roller type bucket (7) is offset to eliminate the movement of the vehicle body;

(S2) along with the excavation process, the drum-type bucket (7) continuously descends to excavate lunar soil deeper, the lunar soil is conveyed to the inside through a spiral channel (12) of the drum-type bucket (7), meanwhile, the controllable baffle (13) is in an open state, and the lunar soil is continuously conveyed in the drum-type bucket (7) through an inner spiral structure, so that the filling rate is ensured;

and (S3) after the excavation operation is finished, controlling the lifting of the drum-type bucket (7) through a basic arm of the vehicle body (6), opening a screening mechanism in the drum-type bucket (7), exposing a filter screen on the inner wall (14) of the spiral channel, closing a controllable baffle (13), reversely rotating the drum-type bucket (7), screening lunar soil filled in the drum-type bucket (7) through the filter screen, and pouring lunar soil which does not meet the particle size requirement out of the spiral channel (12) after the lunar soil is screened by the filter screen.

9. A control system of a lunar soil collecting and screening robot with reconfigurable wheel, which is used for controlling the lunar soil collecting and screening robot with reconfigurable wheel as claimed in any one of claims 1-6, and is characterized by comprising an environment sensing mechanism, a motion control mechanism, a lunar soil characterization test mechanism and a lunar soil excavating and screening control mechanism;

the environment sensing mechanism comprises a binocular stereo camera A (8) and a binocular stereo camera B (9); detecting obstacles through a binocular stereo camera (8) on the side surface of the vehicle body (6) and a binocular stereo camera (9) between the drum-type bucket (7) and the vehicle body (6), acquiring three-dimensional topographic information and assisting navigation;

the motion control mechanism acquires the linear speed, the angular speed and the voltage data of the robot according to the sensor in the vehicle body (6), and combines the three-dimensional terrain information acquired by the environment sensing mechanism to control the motion speed and the state; when the vehicle runs on gentle terrain, the motion control mechanism sends out an instruction to adopt the universal wheels to conduct wheeled travelling; when the vehicle runs in complex terrain or encounters a running obstacle, the motion control mechanism sends out a command to reconstruct the wheel foot, and the claw type foot end is adopted to perform foot type running so as to get rid of dilemma;

the lunar soil characterization testing mechanism is used for carrying out in-situ characterization testing on lunar soil components in the collection area before collection, and collecting lunar soil containing water ice and floating soil substances;

the lunar soil digging and screening control mechanism is used for evaluating the digging operation state, and when the drum filling quantity reaches the loading threshold value, the mechanism sends out a command for stopping digging and performs lunar soil screening.

10. The control system of the lunar soil collecting and screening robot with reconfigurable wheel feet according to claim 9, wherein the environment sensing mechanism acquires images by a binocular stereo camera, the environment sensing mechanism performs image processing, corrects three-dimensional point cloud data, reconstructs three-dimensional topography, automatically plans a robot travel route according to three-dimensional topography information, and controls the robot to travel according to the specified planned route;

the lunar soil characterization testing mechanism comprises a spectrometer mechanism arranged in the vehicle body (6), the spectrometer mechanism inverts the spectral intensity of the characteristic spectrum section of the lunar soil at the target position, and whether the water ice and the floating soil are contained or not is identified through the spectral characteristics; if the water ice and the floating soil are contained, the lunar soil excavation and screening control mechanism executes the next excavation operation task, otherwise, the motion control mechanism reprograms the travel route to find a proper excavation area.