Rolling type lunar surface inspection and detection robot

Abstract

The invention belongs to the technical field of lunar surface environment detection, and particularly relates to a rolling type lunar surface patrol detection robot. Comprising a shell and a main frame, a central main shaft, a vertical pendulum mechanism, a rolling driving mechanism, patrol camera modules and a main controller module which are arranged in the shell, the central main shaft is rotationally connected with the shell, and the patrol camera modules used for collecting lunar surface environment information are arranged at the two ends of the central main shaft; the main frame is rotatably mounted on the central main shaft, the rolling driving mechanism is arranged between the main frame and the central main shaft and used for driving the main frame to rotate around the central main shaft, the vertical pendulum mechanism is arranged at the bottom of the main frame, and rolling and steering of the shell are achieved through front-back and left-right eccentricity of the vertical pendulum mechanism; and the main controller module is arranged on the main frame and is used for controlling the vertical swinging mechanism, the rolling driving mechanism and the patrol camera module. The invention has the advantages of favorable terrain adaptability, small turning radius and flexibility, and can drill into various karst caves for detection.

Description

Technical Field

[0001] The invention belongs to the technical field of lunar surface environment detection, and in particular relates to a rolling lunar surface patrol detection robot. Background Art

[0002] At present, the exploration of the moon by countries around the world has entered a white-hot stage. Major powers have proposed their own lunar exploration plans and launched corresponding lunar probes. The lunar environment is extremely harsh. Not only are there craters of various sizes, which bring difficulties to the design of the travel mechanism of the exploration robot, but also the extreme cosmic radiation caused by the absence of an atmosphere and the temperature difference of nearly 300℃ between day and night also test the stability of the lunar exploration robot.

[0003] Lunar exploration robots can be generally classified into the following types: wheeled, legged, wheel-legged and tracked, each with its own characteristics. The advantages of the wheeled structure are simple structure, high reliability, high speed and high efficiency. my country's Yutu series lunar rover is a wheeled structure, but the wheeled structure also has the disadvantage of weak adaptability to rugged terrain. The legged type can more easily cross more rugged terrain, but the cost is a more complex structure. The wheel-legged type combines the advantages of both methods, can be faster and climb higher craters, but its structure and control process are more complex, and it is more likely to be unstable in extreme environments. The tracked type can carry more weight and has better off-road capabilities than the wheeled type, but its disadvantages of large losses on the ground and fast wear will also exist on the moon, so there is an urgent need for a robot structure that can perfectly match all mission requirements. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a rolling lunar patrol exploration robot to adapt to the rugged and bumpy terrain characteristics of the lunar surface and the temperature environment with extreme temperature differences between day and night.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention provides a rolling lunar patrol and exploration robot, comprising an outer shell and a main frame arranged in the outer shell, a central spindle, a vertical swing mechanism, a rolling drive mechanism, a patrol camera module and a main controller module, wherein the central spindle is rotatably connected to the outer shell, and patrol camera modules for collecting lunar surface environment information are arranged at both ends of the central spindle; the main frame is sleeved on the outer side of the central spindle, the rolling drive mechanism is arranged between the main frame and the central spindle, the rolling drive mechanism is used to drive the main frame to rotate around the central spindle, the vertical swing mechanism is arranged at the bottom of the main frame, and the rolling and steering of the outer shell are realized by eccentricity of the vertical swing mechanism in the front-back and left-right directions; the main controller module is arranged on the main frame, and the main controller module is used to control the vertical swing mechanism, the rolling drive mechanism and the patrol camera module.

[0007] The pendulum mechanism includes a pendulum drive motor, a pendulum and an IMU device, wherein the pendulum is hinged at the bottom of the main frame, the pendulum drive motor is arranged on the main frame, the output end of the pendulum drive motor is connected to the pendulum, the pendulum drive motor drives the pendulum to swing in a direction perpendicular to the rolling direction of the shell, and the pendulum swings to one side to realize the turning movement of the robot; the IMU device is arranged on the pendulum, and the IMU device is used to monitor the posture information of the robot.

[0008] The two ends of the central main shaft are connected to the outer shell through support plate I and support plate II respectively, and the central main shaft can rotate relative to support plate I and support plate II; the two ends of the main frame are rotatably connected to support plate I and support plate II respectively.

[0009] The rolling drive mechanism includes a rolling drive motor, a small gear I and a large gear, wherein the large gear is fixed on the support plate I and is coaxial with the central main axis, the rolling drive motor is arranged inside the main frame, the output end of the rolling drive motor is connected to the small gear I, and the small gear I is meshed with the large gear; the rolling drive motor drives the small gear I to rotate, and the small gear I rolls along the large gear, thereby driving the main frame to rotate.

[0010] The rolling drive mechanism also includes an encoder and a pinion II, wherein the encoder is arranged on the main frame, the input end of the encoder is connected to the pinion II, the pinion II is meshed with the large gear, and the encoder is used to measure the rotation angle of the main frame.

[0011] The patrol camera module includes patrol camera I and patrol camera II respectively arranged at the two ends of the central main shaft;

[0012] Patrol Camera I and Patrol Camera II have the same structure, both including a rotation drive module, a pitch drive module and a camera connected in sequence. The rotation drive module is used to drive the camera to rotate 360 ​​degrees, and the pitch drive module is used to drive the camera to pitch.

[0013] The rotary drive module comprises a rotary drive motor and a rotary seat, wherein the rotary drive motor is arranged at the end of the central spindle, and the output end is connected to the rotary seat;

[0014] The pitch drive module comprises a pitch motor and a pitch bracket, the pitch bracket is hinged with the rotating seat, the pitch motor is arranged on the rotating seat, the output end of the pitch motor is connected with the pitch bracket, and the camera is arranged on the pitch bracket.

[0015] The housing comprises a patrol camera housing I, a main body housing I, a main body housing II, a patrol camera housing II and a connecting ring, wherein the main body housing I and the main body housing II are symmetrically connected on both sides of the connecting ring to form a spherical main body housing;

[0016] The patrol camera housing I and the patrol camera housing II are respectively connected to two sides of the spherical main body housing to close the spherical main body housing;

[0017] The outer surface of the connecting ring is provided with a plurality of grooves at intervals along the circumferential direction.

[0018] The main controller module includes a main controller and a control circuit board I, a control circuit board II and a servo drive board, all of which are connected to the main controller, wherein the control circuit board I is used to control the rolling drive mechanism, the circuit board II is used to control the vertical swing mechanism, and the servo drive board is used to control the patrol camera module.

[0019] The rolling lunar patrol and exploration robot further includes a temperature control module arranged on the main frame, and the temperature control module is used to adjust the internal temperature of the robot.

[0020] The advantages and beneficial effects of the present invention are:

[0021] The present invention provides a rolling lunar patrol and exploration robot, which has a nearly spherical structure, can roll, has good terrain adaptability, a small turning radius, is maneuverable and flexible, and can drill into various caves for exploration; at the same time, it has good sealing properties to prevent lunar dust from damaging electronic devices.

[0022] The present invention sets a central spindle and a main frame mounted on the central spindle in the center of the robot, and the two ends of the central spindle are connected to the patrol camera module located in the hemispherical shell. A steering gear drive board is attached to the side of the main frame, which can control the rotation of the patrol camera module to observe the surrounding environment. A controller is installed on the main frame, which is equivalent to the main control board of the entire robot. An IMU (inertial measurement unit) similar to a pendulum structure is installed below the main frame. The robot's rolling and turning are realized by the front and back and left and right eccentricity of the pendulum, and the robot's posture information can be measured to achieve autonomous control. Active and passive thermal control modules are also installed in the main frame to keep the working environment temperature of the robot equipment stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural schematic diagram of a rolling lunar patrol and exploration robot according to the present invention;

[0024] Figure 2 for Figure 1 AA section view;

[0025] Figure 3 This is an axonometric diagram of a rolling lunar patrol exploration robot of the present invention with the middle shell removed;

[0026] Figure 4 This is an axonometric diagram of a rolling lunar patrol and exploration robot of the present invention with the outer shells on both sides removed;

[0027] Figure 5 It is a structural schematic diagram of the vertical pendulum mechanism in the present invention;

[0028] Figure 6 It is a structural schematic diagram of the rolling drive mechanism and the patrol camera module in the present invention.

[0029] In the figure: 1-patrol camera housing Ⅰ, 2-main body housing Ⅰ, 3-main body housing Ⅱ, 4-patrol camera housing Ⅱ, 5-connecting ring, 6-patrol camera Ⅰ, 7-patrol camera Ⅱ, 8-support plate Ⅰ, 9-support plate Ⅱ, 10-main controller, 11-vertical swing mechanism, 12-control circuit board Ⅰ, 13-control circuit board Ⅱ, 14-central spindle, 15-servo drive board, 16-vertical swing drive motor, 17-vertical swing, 18-I MU equipment, 19 is rolling drive motor, 20-pinion Ⅰ, 21-large gear, 22-encoder, 23-pinion Ⅱ, 24-main frame, 25-rotation drive motor, 26-rotating seat, 27-pitch motor, 28-pitch bracket, 29-camera, 30-motor mounting plate. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] See also Figures 1 to 6 As shown, the present invention provides a rolling lunar patrol and exploration robot, including an outer shell and a main frame 24 arranged in the outer shell, a central spindle 14, a vertical swing mechanism 11, a rolling drive mechanism, a patrol camera module and a main controller module, wherein the central spindle 14 is rotatably connected to the outer shell, and patrol camera modules for collecting lunar surface environment information are arranged at both ends of the central spindle 14; the main frame 24 is sleeved on the central spindle 14, the rolling drive mechanism is arranged between the main frame 24 and the central spindle 14, the rolling drive mechanism is used to drive the main frame 24 to rotate around the central spindle 14, the vertical swing mechanism 11 is arranged at the bottom of the main frame 24, and the rolling and steering of the outer shell are realized by the eccentricity of the vertical swing mechanism 11 in the front and back and left and right directions; the main controller module is arranged on the main frame 24, and the main controller module is used to control the vertical swing mechanism 11, the rolling drive mechanism and the patrol camera module.

[0032] See also Figure 1 and Figure 2As shown, in the embodiment of the present invention, the housing includes a patrol camera housing Ⅰ1, a main body housing Ⅰ2, a main body housing Ⅱ3, a patrol camera housing Ⅱ4 and a connecting ring 5, wherein the main body housing Ⅰ2 and the main body housing Ⅱ3 are symmetrically connected on both sides of the connecting ring 5 to form a spherical main body housing with openings on both sides; the patrol camera housing Ⅰ1 and the patrol camera housing Ⅱ4 are respectively connected to the outside of the main body housing Ⅰ2 and the main body housing Ⅱ3 to close the spherical main body housing. The patrol camera housing Ⅰ1 and the patrol camera housing Ⅱ4 are both hemispherical structures, and the patrol camera housing Ⅰ1 and the patrol camera housing Ⅱ4 can provide protection for the patrol camera module from damage by the harsh external environment. The spherical main body housing can protect important equipment such as the internal main controller.

[0033] Furthermore, the outer surface of the connecting ring 5 is provided with a plurality of elliptical grooves at intervals along the circumferential direction, and the elliptical grooves can increase the friction coefficient with the lunar surface, so that it can be more stable when moving on the lunar surface. The patrol camera housing Ⅰ1 and the patrol camera housing Ⅱ4 are hemispherical structures protruding from both sides of the spherical main body housing, and the two patrol camera modules are respectively accommodated in the patrol camera housing Ⅰ1 and the patrol camera housing Ⅱ4.

[0034] In the embodiment of the present invention, support plates I8 and II9 are installed at both ends of the central spindle 14 through bearings, and the central spindle 14 can rotate relative to the support plates I8 and II9. The support plates I8 and II9 are both annular structures, and the outer edges of the support plates I8 and II9 are respectively connected to the outer ends of the main shell I2 and the main shell II3, so that the main shell I2, the connecting ring 5 and the main shell II3 can rotate around the central spindle 14. The main frame 24 is a rectangular parallelepiped frame structure, and shaft holes are provided on both sides. The inner diameters of the support plates I8 and II9 are axially extended with shaft sleeves. The shaft sleeves of the support plates I8 and II9 pass through the shaft holes on both sides of the main frame 24, respectively, and the shaft sleeves are rotatably connected to the main frame 24 through bearings. The main frame 24 can rotate on the support plates I8 and II9, and the rotation axis of the main frame 24 is colinear with the rotation axis of the shell.

[0035] See also Figures 3 to 5As shown, in the embodiment of the present invention, the pendulum mechanism 11 includes a pendulum drive motor 16, a pendulum 17 and an IMU device 18, wherein two ear seats are respectively provided on both sides of the upper end of the pendulum 17, and the two ear seats are respectively hinged to both sides of the bottom of the main frame 24. The pendulum drive motor 16 is arranged at the bottom of the main frame 24, and the output end of the pendulum drive motor 16 is connected to the pendulum 17. The pendulum drive motor 16 drives the pendulum 17 to swing in a direction perpendicular to the rolling direction of the shell, and the pendulum 17 swings to one side to realize the turning movement of the robot; the IMU device 18 is arranged on the pendulum 17, and the IMU device 18 is used to monitor the posture information of the robot, such as the roll angle, rotation speed, rotation acceleration, etc. Through the monitoring of the IMU device 18 (inertial measurement unit), the robot can understand its own posture information and control the driving direction.

[0036] When the robot needs to turn, the controller located above the main frame 24 will send control information to allow the pendulum 17 equipped with the IMU device 18 to swing in a predetermined direction, thereby changing the center of gravity of the robot and causing it to deviate from its original position, causing the robot to tilt in that direction as a whole, thereby completing the turning action.

[0037] The IMU device 18 will be equipped with an accelerometer, a gyroscope, and a magnetometer; the accelerometer is used to measure the acceleration of the lunar robot in the direction of travel, and its working principle is based on Newton's second law, that is, force equals mass multiplied by acceleration. When the robot accelerates, the mass block inside the accelerometer will be affected by the inertial force, and this force is converted into an electrical signal, so that the magnitude and direction of the acceleration can be accurately measured. The gyroscope is used to measure the angular velocity of the lunar robot when turning, and its working principle is based on the stability of the rotating object, that is, the rotation axis remains unchanged in the absence of external force. The gyroscope obtains the state of motion by detecting the slight offset of the rotation axis and converts this information into an electrical signal. The magnetometer is used to measure the direction of the lunar magnetic field to assist in determining the direction of the robot's travel. The magnetometer can provide an absolute direction reference, which helps to correct the accumulated errors of the accelerometer and gyroscope.

[0038] See also Figure 6As shown, in the embodiment of the present invention, the rolling drive mechanism includes a rolling drive motor 19, a pinion gear Ⅰ20 and a large gear 21, wherein the large gear 21 is fixed on the shaft sleeve of the support plate Ⅰ8 and is coaxial with the central main shaft 14 (the support plate Ⅰ is not shown in the figure), the rolling drive motor 19 is installed inside the main frame 24 through the mounting plate, the output end of the rolling drive motor 19 is connected to the pinion gear Ⅰ20, and the pinion gear Ⅰ20 is meshed with the large gear 21; the rolling drive motor 19 drives the pinion gear Ⅰ20 to rotate, and the pinion gear Ⅰ20 rolls along the large gear 21, thereby driving the main frame 24 to rotate in the front-to-back direction. When the main frame 24 rotates in the front-to-back direction, the pendulum 17 rotates in the front-to-back direction along with the main frame 24, so that the center of gravity of the robot changes, so that the shell rotates along the swing direction of the pendulum 17, so that the robot can roll forward and backward.

[0039] Furthermore, the rolling drive mechanism also includes an encoder 22 and a pinion II 23 , wherein the encoder 22 is arranged on the main frame 24 , the input end of the encoder 22 is connected to the pinion II 23 , the pinion II 23 is meshed with the large gear 21 , and the encoder 22 is used to measure the rotation angle of the main frame 24 .

[0040] In an embodiment of the present invention, the patrol camera modules are located at both ends of the central axis of the main controller and are the main equipment for the lunar robot to conduct detection. They transmit visual information to the lunar research station or ground observation station in real time or with a delay, thereby obtaining first-hand scientific research data and providing a basis for subsequent path task planning. Through the cooperation of two patrol camera modules, all-round and no-dead-angle detection can be carried out around the detector.

[0041] See also Figure 6 As shown, in the embodiment of the present invention, the patrol camera module includes patrol camera I6 and patrol camera II7 respectively arranged at the ends of the central main shaft 14; patrol camera I6 and patrol camera II7 have the same structure, and both include a rotation drive module, a pitch drive module and a camera 29 connected in sequence, the rotation drive module is used to drive the camera 29 to rotate 360 ​​degrees, and the pitch drive module is used to drive the camera 29 to pitch within a range of 180 degrees. Through the cooperation of the rotation drive module and the pitch drive module, the hemispherical pointing control of the camera 29 can be achieved.

[0042] In an embodiment of the present invention, the rotation drive module includes a rotation drive motor 25 and a rotating seat 26, wherein the rotation drive motor 25 is arranged at the end of the central spindle 14, and the output end of the rotation drive motor 25 is connected to the rotating seat 26; the pitch drive module includes a pitch motor 27 and a pitch bracket 28, the pitch bracket 28 is hinged to the rotating seat 26, the pitch motor 27 is arranged on the rotating seat 26, the output end of the pitch motor 27 is connected to the pitch bracket 28, and the camera 29 is arranged on the pitch bracket 28.

[0043] See also Figure 3 and Figure 4 As shown, in the embodiment of the present invention, the main controller module includes a main controller 10 and a control circuit board Ⅰ12, a control circuit board Ⅱ13 and a steering gear drive board 15 connected to the main controller 10, wherein the control circuit board Ⅰ12 is used to control the rolling drive mechanism, that is, to control the forward and backward rolling of the robot; the circuit board Ⅱ13 is used to control the pendulum mechanism 11, that is, to control the steering of the robot; the main controller 10 obtains the robot's own posture information obtained by the IMU device 18 to give subsequent motion instructions. When the motion instruction is given, the pendulum 17 can realize the turning movement of the robot by swinging to one side. The steering gear drive board 15 is used to control the patrol camera module, that is, to control the posture of the cameras 29 on both sides. Under the control of the main controller 10, the steering gear drive board 15 can allow the patrol camera to freely point to the target to be detected within the hemisphere surrounded by the patrol camera housing Ⅰ1 and the patrol camera housing Ⅱ4.

[0044] On the basis of the above-mentioned embodiments, a rolling lunar patrol exploration robot provided by the present invention also includes an active and passive temperature control module arranged on the main frame 24, and the temperature control module is used to adjust the internal temperature of the robot to provide a suitable working environment for the internal equipment.

[0045] The present invention is a spherical rolling robot with a diameter of about 350 mm. In the longitudinal direction, there is a connecting ring 5 with orderly arranged elliptical grooves, which can provide more friction when the robot rolls. At the same time, the two sides of the connecting ring are connected to the two main shells of the robot. There are two hemispherical protrusions at both ends, each equipped with a set of cameras for identifying roads, assisting driving, detecting and monitoring, etc.

[0046] Specifically, the main frame 24 is made of aluminum alloy, which makes the robot lighter and can reduce transportation costs during the lunar transportation process. At the same time, although the melting point of aluminum alloy is low (usually around 600°C), the lunar surface will not reach such a high temperature even during the day, so there is no need to worry about the robot being damaged due to the reduction in hardness caused by high temperature.

[0047] When in use, it is placed on the lunar surface by astronauts and can be remotely controlled or plan its route autonomously through cameras on both sides to identify lunar surface conditions. Due to its simple and compact structure, it can flexibly turn to avoid obstacles during travel, and its main equipment is arranged inside the sphere, and its active and passive thermal control devices can have lower operating power, thus saving energy.

[0048] The present invention provides a rolling lunar patrol and exploration robot with a compact structure, light weight, good terrain adaptability, small turning radius, flexibility and the ability to drill into various caves for exploration; it also has good sealing properties to prevent lunar dust from damaging electronic devices. The present invention can adapt to most lunar environments for exploration and patrol, and its small size and flexible steering characteristics enable astronauts to explore some relatively narrow environments such as lunar caves and crater gaps on the lunar surface.

[0049] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A rolling lunar patrol exploration robot, characterized in that: The invention comprises a shell and a main frame (24) arranged in the shell, a central spindle (14), a vertical swing mechanism (11), a rolling drive mechanism, a patrol camera module and a main controller module, wherein the central spindle (14) is rotatably connected to the shell, and patrol camera modules for collecting lunar surface environment information are arranged at both ends of the central spindle (14); the main frame (24) is sleeved on the outside of the central spindle (14), the rolling drive mechanism is arranged between the main frame (24) and the central spindle (14), and the rolling drive mechanism is used to drive the main frame (24) to rotate around the central spindle (14); the vertical swing mechanism (11) is arranged at the bottom of the main frame (24), and the shell is rolled and turned by eccentricity of the vertical swing mechanism (11) in the front-back and left-right directions; the main controller module is arranged on the main frame (24), and the main controller module is used to control the vertical swing mechanism (11), the rolling drive mechanism and the patrol camera module.

2. The rolling lunar patrol and exploration robot according to claim 1, characterized in that: The pendulum mechanism (11) comprises a pendulum drive motor (16), a pendulum (17) and an IMU device (18), wherein the pendulum (17) is hinged at the bottom of the main frame (24), the pendulum drive motor (16) is arranged on the main frame (24), the output end of the pendulum drive motor (16) is connected to the pendulum (17), the pendulum drive motor (16) drives the pendulum (17) to swing in a direction perpendicular to the rolling direction of the shell, and the pendulum (17) swings to one side to realize the turning movement of the robot; the IMU device (18) is arranged on the pendulum (17), and the IMU device (18) is used to monitor the posture information of the robot.

3. The rolling lunar patrol and exploration robot according to claim 1, characterized in that: The two ends of the central main shaft (14) are respectively connected to the outer shell through the support plate I (8) and the support plate II (9), and the central main shaft (14) can rotate relative to the support plate I (8) and the support plate II (9); the two ends of the main frame (24) are respectively rotatably connected to the support plate I (8) and the support plate II (9).

4. The rolling lunar patrol and exploration robot according to claim 3 is characterized in that: The rolling drive mechanism comprises a rolling drive motor (19), a pinion gear I (20) and a large gear (21), wherein the large gear (21) is fixedly mounted on the support plate I (8) and is coaxial with the central main shaft (14); the rolling drive motor (19) is arranged inside the main frame (24); the output end of the rolling drive motor (19) is connected to the pinion gear I (20), and the pinion gear I (20) is meshed with the large gear (21); the rolling drive motor (19) drives the pinion gear I (20) to rotate, and the pinion gear I (20) rolls along the large gear (21), thereby driving the main frame (24) to rotate.

5. The rolling lunar patrol and exploration robot according to claim 4, characterized in that: The rolling drive mechanism further comprises an encoder (22) and a pinion gear II (23), wherein the encoder (22) is arranged on the main frame (24), the input end of the encoder (22) is connected to the pinion gear II (23), the pinion gear II (23) is meshed with the large gear (21), and the encoder (22) is used to measure the rotation angle of the main frame (24).

6. The rolling lunar patrol and exploration robot according to claim 1, characterized in that: The patrol camera module comprises a patrol camera I (6) and a patrol camera II (7) respectively arranged at the two end portions of the central main shaft (14); The patrol camera I (6) and the patrol camera II (7) have the same structure, and both include a rotation drive module, a pitch drive module and a camera (29) connected in sequence. The rotation drive module is used to drive the camera (29) to rotate 360 ​​degrees, and the pitch drive module is used to drive the camera (29) to perform a pitch action.

7. The rolling lunar patrol and exploration robot according to claim 6, characterized in that: The rotary drive module comprises a rotary drive motor (25) and a rotary seat (26), wherein the rotary drive motor (25) is arranged at the end of the central spindle (14), and the output end is connected to the rotary seat (26); The pitch driving module comprises a pitch motor (27) and a pitch bracket (28), the pitch bracket (28) is hinged to the rotating seat (26), the pitch motor (27) is arranged on the rotating seat (26), the output end of the pitch motor (27) is connected to the pitch bracket (28), and the camera (29) is arranged on the pitch bracket (28).

8. The rolling lunar patrol and exploration robot according to claim 1, characterized in that: The housing comprises a patrol camera housing I (1), a main body housing I (2), a main body housing II (3), a patrol camera housing II (4) and a connecting ring (5), wherein the main body housing I (2) and the main body housing II (3) are symmetrically connected on both sides of the connecting ring (5) to form a spherical main body housing; The patrol camera housing I (1) and the patrol camera housing II (4) are respectively connected to two sides of the spherical main body housing to close the spherical main body housing; The outer surface of the connecting ring (5) is provided with a plurality of grooves at intervals along the circumferential direction.

9. The rolling lunar patrol and exploration robot according to claim 1, characterized in that: The main controller module comprises a main controller (10) and a control circuit board I (12), a control circuit board II (13) and a steering gear drive board (15) all connected to the main controller (10), wherein the control circuit board I (12) is used for controlling the rolling drive mechanism, the circuit board II (13) is used for controlling the vertical swing mechanism (11), and the steering gear drive board (15) is used for controlling the patrol camera module.

10. The rolling lunar patrol and exploration robot according to claim 1, characterized in that: It also includes a temperature control module arranged on the main frame (24), and the temperature control module is used to adjust the internal temperature of the robot.

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