Moon probe vehicle with obstacle crossing function and obstacle crossing method thereof

Abstract

The invention provides a lunar rover with an obstacle crossing function and an obstacle crossing method thereof, and relates to the field of lunar rovers, the lunar rover comprises a rover body, posture adjusting assemblies and a rover roof opening and closing assembly, a moving assembly is arranged below the rover body, the posture adjusting assemblies are arranged on the two sides of the rover body, and the rover roof opening and closing assembly is arranged above the rover body; the roller cleaning assembly, the lunar dust conveying assembly and the detection assembly are all arranged in the vehicle body. According to the invention, the posture adjusting assembly is expanded and extended in real time, so that the posture of the vehicle body is adjusted, the vehicle is prevented from overturning, precise parts are protected from being damaged by dust and meteorite impact through the vehicle roof opening and closing assembly above the vehicle body, and the motion mode of eight-wheel driving and four-wheel steering is realized by adopting the wheel structure of the eight-wheel suspension connecting rod; through linkage of the eight-wheel suspension and cooperative control of the attitude adjusting assembly, the obstacle crossing ability and terrain adaptability of the lunar rover are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of lunar rovers, and in particular to a lunar exploration rover with an obstacle-crossing function and an obstacle-crossing method thereof. Background Art

[0002] With advances in aerospace technology, lunar exploration has achieved significant breakthroughs, and lunar rovers are a crucial tool for lunar exploration. The lunar surface environment, characterized by complex topography and harsh climatic conditions, poses significant challenges to the reliability and durability of rovers. First, the lunar surface is dotted with numerous terrain obstacles, including craters, steep slopes, and gullies. Second, long-term exposure to micrometeorite impacts poses environmental risks to existing lunar rovers during missions. When driving on slopes or navigating obstacles, rovers are prone to tipping over due to a shift in their center of gravity or insufficient ground support. This can not only directly interrupt the mission but can also cause permanent damage to precision instruments.

[0003] Therefore, it is necessary to propose a lunar rover with obstacle crossing function and its obstacle crossing method in order to solve the above-mentioned defects. Summary of the Invention

[0004] In order to address the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a lunar rover with obstacle-crossing function and an obstacle-crossing method thereof. The present invention adjusts the vehicle body posture by real-time outward extension and extension through the attitude adjustment component to prevent the vehicle from overturning. By adopting a wheel structure with an eight-wheel suspension link, an eight-wheel drive four-wheel steering movement mode is realized. Through the coordinated control of the eight-wheel suspension linkage and the attitude adjustment component, the obstacle-crossing capability and terrain adaptability of the lunar rover are improved.

[0005] Specifically, on the one hand, the present invention provides a lunar exploration vehicle with an obstacle crossing function, which includes a vehicle body, an attitude adjustment component and a roof opening and closing component; the attitude adjustment component includes an outward extension drive motor, an outward extension drive gear, an outward extension driven gear, an extension drive motor, an extension drive gear, an extension driven gear, an extension crank, an extension rocker, a small leg, a foot and a large leg; the outward extension drive gear is connected to the outward extension drive motor, the outward extension driven gear is meshed with the outward extension drive gear for transmission, the extension drive motor is connected to the outward extension driven gear through a motor mounting plate, the extension drive gear is connected to the extension drive motor, the extension driven gear is meshed with the extension drive gear for transmission, the first end of the extension crank is connected to the extension driven gear, the first end of the extension rocker is hinged to the second end of the extension crank, the first end of the small leg is hinged to the second end of the extension rocker The hinge is provided at the second end of the small leg, the first end of the large leg is connected to the extension drive gear, and the second end of the large leg is hinged to the first end of the small leg; the roof opening and closing assembly includes a crank main gear, a crank sub-gear, a drive crank, a slider, a slide rail, a first connecting rod, a roof connecting piece, a second connecting rod, a third connecting rod and a connecting rod rotating shaft, the crank main gear is connected to the drive motor, the crank sub-gear is meshed with the crank main gear for transmission, the first end of the drive crank is hinged to the crank sub-gear, the second end of the drive crank is hinged to the slider, the slider is slidably connected to the slide rail, the first end of the first connecting rod is hinged to the slider, the roof connecting piece is hinged to the second end of the first connecting rod, the first end of the second connecting rod is hinged to the vehicle body, the second end of the second connecting rod is hinged to the roof connecting piece through the third connecting rod, and the first connecting rod and the second connecting rod are hinged.

[0006] Preferably, it also includes a moving assembly, which includes a transmission shaft, a connecting seat, a differential, a connecting rod pressure arm, a rocker arm, a steering motor, a steering plate, a first drive motor, a steering wheel, a second drive motor and an auxiliary wheel; the transmission shaft is connected to the vehicle body through the connecting seat, the differential is arranged on the transmission shaft, the first end of the connecting rod pressure arm is hinged to the two ends of the transmission shaft respectively, the rocker arm is hinged to the second end of the connecting rod pressure arm, the steering motor is connected to the first end of the rocker arm, the first drive motor is connected to the output end of the steering motor through the steering plate, the steering wheel is connected to the output end of the first drive motor, the second drive motor is connected to the second end of the rocker arm, and the auxiliary wheel is connected to the second drive motor.

[0007] Preferably, it also includes a roller cleaning assembly, which includes a robotic arm, a cleaning bracket, a rotating roller, a cleaning brush and a solar panel; the robotic arm is arranged on both sides of the vehicle body, the cleaning bracket is arranged at the end of the robotic arm, the two ends of the rotating roller are rotatably connected to the cleaning bracket, the cleaning brush is arranged on the rotating roller, and the solar panels are symmetrically arranged on both sides of the vehicle body, and the solar panels are fan-shaped.

[0008] Furthermore, it also includes a lunar dust transmission component, which includes a door connecting rod, a door, a door slide rail, a door slider and a conveyor belt. The first end of the door connecting rod is hinged to the vehicle body, the first end of the door is hinged to the second end of the door connecting rod, the door slide rail is set on the vehicle body, the second end of the door is slidably connected to the door slide rail through the door opening slider, and the conveyor belt is set below the vehicle door.

[0009] Preferably, it also includes a detection assembly, which includes a detection mast, a panoramic camera, a communication antenna, a laser radar and a buckle. The panoramic camera is arranged at the top of the detection mast, the communication antenna is arranged at the upper middle part of the detection mast, the laser radar is arranged on the vehicle body, and the buckle is arranged in the vehicle body. When the detection mast is retracted, the buckle engages with the detection mast.

[0010] Preferably, the posture adjustment component also includes a leg connecting member, an outward flange and an outward shaft, the leg connecting member is connected to the vehicle body, the outward flange is connected to the leg connecting member, the outward drive motor is connected to the outward flange, the first end of the outward shaft is rotatably connected to the outward flange, the second end of the outward shaft is rotatably connected to the leg connecting member, and the outward driven gear is connected to the outward shaft; the roof opening and closing component also includes a protective roof, a locking magnet and a dust cover, the protective roof is connected to the roof connecting member, the protective roof adopts a dome, the outside of the dome is coated with a dust-repellent layer, the locking magnet is arranged at the edge of the protective roof, and the dust cover is connected to the vehicle body.

[0011] Furthermore, the posture adjustment components are provided in four groups, which are mirror-symmetrically arranged on both sides of the vehicle body. There are two protective roofs, which are mirror-symmetrically arranged above the vehicle body. There are four groups of roof opening and closing components, which are evenly distributed inside the vehicle body.

[0012] Furthermore, two groups of mobile components are provided, which are arranged in mirror symmetry below the vehicle body. There are four steering wheels and four auxiliary wheels. The rotation axis of the steering motor and the rotation axis of the steering wheel are perpendicular to each other, the rotation axes of each auxiliary wheel are parallel to each other, and the rotation axis of the auxiliary wheel and the rotation axis of the transmission shaft are parallel to each other.

[0013] In another aspect, the present invention provides an obstacle surmounting method for a lunar rover having an obstacle surmounting function, comprising the following steps: S1. The lunar rover's lidar scans the terrain ahead and identifies the obstacle height H and slope θ; S2. Real-time introduction of lunar soil Young's modulus estimation, dynamic adjustment of H max and θ max Threshold, when the obstacle is lower than the maximum height H that the wheel can pass max And the slope is less than the maximum slope θ max That is, H≤H max &θ≤θ max Use the mobile component gear train mode to cross obstacles, and when H>H max or θ>θmax When the vehicle is in the state of being overthrown, the posture adjustment component is turned on to assist the vehicle in crossing obstacles; Maximum obstacle clearance height H of the gear train max The calculation formula is: ; Where, Maximum wheel passing height; — wheel diameter; —Contact angle between wheel and obstacle; —The length of the rocker arm from the hinge to the wheel center; —Maximum compression rocker arm angle; — rocker arm angle at initial position; Maximum wheel passing slope θ max The calculation formula is: ; Where θ max — Maximum wheel passing slope; —The distance between the centers of the front and rear wheels of the lunar rover; —The center distance between the two wheels of the lunar rover and the rocker arm; — Lunar rover hinge ground clearance; —Height of the lunar rover's center of mass; —slope safety margin; S3. When the vehicle body sensor detects that the vehicle has tilted at an excessively large angle for a period of time or that the pressure on a single wheel has increased, the roof opening and closing assembly is activated, the detection mast is retracted into the vehicle and fixed to the buckle, and the slider drives the protective roof to close; S4: When the vehicle body is stable, the diagonal support legs are deployed, the legs touch the ground, and the vehicle body is lifted after adjusting to the appropriate position. The four legs work together to level the vehicle, reducing the vehicle's inclination angle and re-grounding the wheels on both sides. S5. When the suspension is retracted to the balanced position and the laser radar confirms that the terrain ahead is flat, the attitude adjustment component is retracted, the protective dome is opened, the detection mast is rotated back to a vertical position on the ground, and the vehicle continues to move forward.

[0014] Preferably, step S2 is specifically: S21, when H≤H max And θ≤θ max When the vehicle is in a state of equilibrium, the connecting rod pressure arm rotates relative to the vehicle body, and the component of gravity on each wheel is adjusted through the rotation of the rocker arm and the auxiliary wheel. Every two wheels of the eight wheels in the suspension are hinged to the same connecting rod pressure arm through the rocker arm, so that each wheel can evenly distribute gravity and realize eight-wheel adaptive terrain changes; S22, when H>H max or θ>θ maxWhen the vehicle is moving, it unfolds the four support feet in the vertical and moving directions, adjusts each foot to the appropriate position, starts the wheel-leg coordinated travel mode, retracts the support feet after passing the obstacle and resumes wheel travel. When the obstacle is not passed, it switches to the diagonal support feet to exert force and continues to adjust the support until the obstacle is passed.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention uses attitude adjustment components on both sides of the vehicle body to achieve real-time outward and extension adjustments when the tilt angle of the vehicle body is too large, helping the lunar rover maintain balance and preventing the vehicle from overturning in inclined or unstable terrain. When the lunar rover accidentally falls, the attitude adjustment component can help the vehicle automatically right itself to avoid detection interruption after the fall. The large outrigger and the small outrigger are connected by a crank rocker, which reduces the number of independent drive motors, ensuring obstacle crossing capability while reducing the weight of the attitude adjustment component.

[0016] The present invention uses a roof opening and closing assembly above the vehicle body to achieve closing of the protective roof through a connecting rod mechanism when driving in dusty areas or encountering severely uneven terrain, thereby protecting delicate components from damage by dust and meteorite impacts.

[0017] The present invention adopts an eight-wheel suspension connecting rod wheel structure, each wheel has an independent drive motor, and the four front and rear wheels are equipped with steering motors, realizing an eight-wheel drive four-wheel steering movement mode, more evenly distributing the load, reducing the pressure on individual wheels and suspension systems, and the connecting rod suspension structure can automatically adjust the wheel height according to the terrain, keeping the vehicle body stable, and improving the driving stability and obstacle crossing ability.

[0018] The present invention adopts a hybrid mobile system that cooperates with a posture adjustment component and a mobile component. The mobile component is suitable for fast movement on flat or gently sloping terrain, and the posture adjustment component can travel in places with large obstacles. When traveling to the area that needs to be explored, the posture adjustment component can fine-tune the position and posture of the lunar rover to facilitate accurate sampling. The hybrid mobile system combines the high efficiency of wheeled movement and the flexibility of foot-based movement, thereby improving the adaptability and exploration flexibility of the lunar rover.

[0019] The present invention uses a roller cleaning assembly to sweep the lunar dust on the solar panels into a dust collection bin, and a robotic arm moves it to a conveyor belt. When the rover drives to the lunar workstation, the lunar dust is sent to the docking point of the workstation for storage through the lunar dust conveying assembly, achieving energy self-sufficiency through the solar panels, and at the same time collecting dust in the lunar air. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the lunar exploration rover with obstacle-crossing function of the present invention; Figure 2 Schematic diagram of the structure of the mobile component in the present invention; Figure 3 It is a partial structural front view of the roof opening and closing assembly of the present invention; Figure 4 This is a schematic diagram of the overall structure of the present invention in a protective state; Figure 5 Schematic diagram of the structure of the posture adjustment component of the present invention; Figure 6 A partial cross-sectional view of the posture adjustment component of the present invention; Figure 7 Schematic diagram of the structure of the roller cleaning assembly of the present invention; Figure 8 Schematic diagram of the mechanism of the lunar dust conveying assembly of the present invention; Figure 9 A top view of the detection assembly of the present invention; Figure 10 It is a structural diagram of the posture adjustment component and the mobile coordinated motion in the present invention; Figure 11 The figure is a flow chart of the obstacle crossing method of the lunar exploration rover with obstacle crossing function according to the present invention.

[0021] Main reference numerals: 1. Body; 2. Moving assembly; 201. Drive shaft; 202. Connecting seat; 203. Differential; 204. Connecting rod pressure arm; 205. Rocker arm; 206. Steering motor; 207. Steering plate; 208. First drive motor; 209. Steering wheel; 210. Second drive motor; 211. Auxiliary wheel; 3. Posture adjustment assembly; 301. Leg connector; 302. Extension flange; 303. Extension drive motor; 304. Extension drive gear; 305. Extension shaft; 306. Extension driven gear; 307. Extension drive motor; 308. Extension drive gear; 309. Extension driven gear; 310. Extension crank; 311. Extension rocker; 312. Small outrigger; 313. Foot; 314. Large outrigger; 4. Roof opening and closing Components; 401, crank main gear; 402, crank sub-gear; 403, drive crank; 404, slider; 405, slide rail; 406, first connecting rod; 407, roof connector; 408, second connecting rod; 409, third connecting rod; 410, connecting rod rotating shaft; 411, protective roof; 412, locking magnet; 413, dust cover; 5, roller cleaning component; 51, robotic arm; 52, cleaning bracket; 53, rotating roller; 54, cleaning brush; 55, solar panel; 6, lunar dust transmission component; 61, door connecting rod; 62, door; 63, door slide rail; 64, door slider; 65, conveyor belt; 7, detection component; 71, detection mast; 72, panoramic camera; 73, communication antenna; 74, lidar; 75, buckle. DETAILED DESCRIPTION

[0022] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0023] The present invention provides a lunar exploration vehicle with an obstacle-crossing function, such as Figure 1 and Figure 2 As shown, it includes a vehicle body 1, a moving component 2, a posture adjustment component 3, a roof opening and closing component 4, a roller cleaning component 5, a lunar dust transmission component 6 and a detection component 7.

[0024] The mobile component 2 includes a transmission shaft 201, a connecting seat 202, a differential 203, a connecting rod pressure arm 204, a rocker arm 205, a steering motor 206, a steering plate 207, a first drive motor 208, a steering wheel 209, a second drive motor 210 and an auxiliary wheel 211; the transmission shaft 201 is connected to the vehicle body 1 through the connecting seat 202, the differential 203 is arranged on the transmission shaft 201, the first end of the connecting rod pressure arm 204 is hinged to the two ends of the transmission shaft 201 respectively, the rocker arm 205 is hinged to the second end of the connecting rod pressure arm 204, the steering motor 206 is connected to the first end of the rocker arm 205, the first drive motor 208 is connected to the output end of the steering motor 206 through the steering plate 207, the steering wheel 209 is connected to the output end of the first drive motor 208, the second drive motor 210 is connected to the second end of the rocker arm 205, and the auxiliary wheel 211 is connected to the second drive motor 210. Two groups of mobile components 2 are provided, which are arranged in mirror symmetry below the vehicle body 1. There are four steering wheels 209 and four auxiliary wheels 211. The rotation axis of the steering motor 209 is perpendicular to the rotation axis of the steering wheel 209, the rotation axes of each auxiliary wheel 211 are parallel to each other, and the rotation axes of the auxiliary wheels 211 are parallel to the rotation axis of the transmission shaft 201, realizing eight-wheel drive and four-wheel steering movement.

[0025] like Figure 4 and Figure 5As shown, the posture adjustment component 3 includes a leg connection 301, an abduction flange 302, an abduction drive motor 303, an abduction drive gear 304, an abduction shaft 305, an abduction driven gear 306, an extension drive motor 307, an extension drive gear 308, an extension driven gear 309, an extension crank 310, an extension rocker 311, a small leg 312, a foot 313 and a large leg 314; the abduction flange 302 is connected to the leg connection 301, the abduction drive motor 303 is connected to the abduction flange 302, the abduction drive gear 304 is connected to the abduction drive motor 303, the first end of the abduction shaft 305 is rotatably connected to the abduction flange 302, the second end of the abduction shaft 305 is rotatably connected to the leg connection 301, and the abduction driven gear 304 is connected to the abduction drive motor 303. The extension shaft 305 is connected to the extension shaft 305, and the extension driven gear 306 is meshed with the extension drive gear 305. The extension drive motor 307 is connected to the extension driven gear via the motor mounting plate. The extension drive gear 308 is connected to the extension drive motor 307. The extension driven gear 309 is meshed with the extension drive gear 308. The first end of the extension crank 310 is connected to the extension driven gear 309. The first end of the extension rocker 311 is hinged to the second end of the extension crank 310. The first end of the small leg 312 is hinged to the second end of the extension rocker 311. The foot 313 is provided at the second end of the small leg 312. The first end of the large leg 314 is connected to the extension drive gear 308, and the second end of the large leg 314 is hinged to the first end of the small leg 312. Four groups of posture adjustment components 3 are provided, two of which are mirror-symmetrically arranged on both sides of the vehicle body 1. The posture adjustment component 3 can perform extension and flexion movements in the vertical direction and abduction and adduction movements in the moving direction. The multi-degree-of-freedom posture adjustment component 3 improves the adaptability to complex terrain and the stability of the lunar rover's movement. In addition, the posture adjustment component follows a lightweight design. The connection between the large leg 314 and the small leg 312 adopts a crank rocker to drive the movement, and the extension rocker 311 can amplify the stroke and improve the obstacle crossing ability.

[0026] like Figure 6As shown, the roof opening and closing assembly 4 includes a crank main gear 401, a crank sub-gear 402, a driving crank 403, a slider 404, a slide rail 405, a first connecting rod 406, a roof connecting piece 407, a second connecting rod 408, a third connecting rod 409, a connecting rod rotating shaft 410, a protective roof 411, a locking magnet 412 and a dust cover 413. The crank main gear 401 is connected to the driving motor, the crank sub-gear 402 is meshed with the crank main gear 401 for transmission, the first end of the driving crank 403 is hinged to the crank sub-gear 402, the second end of the driving crank 403 is hinged to the slider 404, the slider 404 is slidably connected to the slide rail 405, the first end of the first connecting rod 406 is hinged to the slider 404, the roof connecting piece 407 is hinged to the second end of the first connecting rod 406, and the first end of the second connecting rod 408 is hinged to the vehicle body. 1 is hinged, the second end of the second link 408 is hinged to the roof connector 407 through the third link 409, and the first link 106 and the second link 108 are hinged, the protective roof 411 is connected to the roof connector 407, the locking magnet 412 is set at the edge of the protective roof 411, and the dust cover 413 is connected to the body 1 to prevent abnormal wear of the gears and ensure transmission accuracy. There are two protective roofs 411, which are mirror-symmetrically set above the body 1. There are four groups of roof opening and closing components 4, which are evenly distributed inside the body 1. The protective roof 411 adopts a dome, and the outside of the dome is coated with a dust-repellent layer. The curved surface design of the outside reduces the adhesion of lunar dust and reduces the impact of dust on equipment performance. The dome has no obvious stress concentration point, has better pressure resistance and impact resistance, and can evenly distribute external pressure such as meteorite impact. Figure 3 It is shown that after the detection component 7 is retracted into the vehicle, the roof opening and closing component 4 is activated to close the protective roof 411.

[0027] like Figure 7 As shown, the roller cleaning assembly 5 includes a robotic arm 51, a cleaning bracket 52, a rotating roller 53, a cleaning brush 54 and a solar panel 55; the robotic arm 51 is arranged on both sides of the vehicle body 1, the cleaning bracket 52 is arranged at the end of the robotic arm 51, the two ends of the rotating roller 53 are rotatably connected to the cleaning bracket 52, the cleaning brush 54 is arranged on the rotating roller 53, and the solar panel 55 is symmetrically arranged on both sides of the vehicle body 1. The cleaning brush 54 swings in a fan shape on the solar panel 55 to clean the lunar dust thereon and ensure energy supply. The solar panel 55 is fan-shaped, and the robotic arm 51 can swing in a fan shape. At the same time, the robotic arm 51 can also clean and collect lunar dust on the vehicle body 1 and the lens of the panoramic camera 72.

[0028] like Figure 8As shown, the lunar dust transmission assembly 6 includes a door connecting rod 61, a door 62, a door slide rail 63, a door slider 64 and a conveyor belt 65. The first end of the door connecting rod 61 is hinged to the vehicle body 1, the first end of the door 62 is hinged to the second end of the door connecting rod 61, the door slide rail 63 is set on the vehicle body 1, and the second end of the door 62 is slidably connected to the door slide rail 63 through the door opening slider 64. The conveyor belt 65 is set below the door 62, and the lunar dust or lunar soil is output to the lunar dust transfer area of ​​the workstation through the conveyor belt 65.

[0029] like Figure 9 As shown, the detection assembly 7 includes a detection mast 71, a panoramic camera 72, a communication antenna 73, a laser radar 74 and a buckle 75. The panoramic camera 72 is arranged at the top of the detection mast 71, the communication antenna 73 is arranged in the middle and upper part of the detection mast 71, the laser radar 74 is arranged on the vehicle body, and the buckle 75 is arranged in the vehicle body 1. When the detection mast 71 is retracted, the buckle 75 is engaged with the detection mast 71. There are two buckles 75. In order to protect the panoramic camera 72 from being staggered in height, when the detection mast 71 is rotated downward and retracted into the vehicle body 1, the buckle 75 buffers and fixes the detection mast 71.

[0030] like Figure 10 and Figure 11 As shown, the present invention provides an obstacle crossing method for a lunar exploration rover with an obstacle crossing function, which comprises the following steps: S1. The lunar rover's lidar 74 scans the terrain ahead and identifies the obstacle height H and slope θ.

[0031] S2. Real-time introduction of lunar soil Young's modulus estimation, dynamic adjustment of H max and θ max Threshold, when the obstacle is lower than the maximum height H that the wheel can pass max And the slope is less than the maximum slope θ max That is, H≤H max &θ≤θ max Use the mobile component 2 gear train mode to cross the obstacle, and when H>H max or θ>θ max When the vehicle is in a state of being overthrown, the posture adjustment component 3 is turned on to assist the vehicle in crossing the obstacle.

[0032] S21, when H≤H max &θ≤θ max When the vehicle is in a state of rotation, the connecting rod pressure arm 204 rotates relative to the vehicle body, and the component of gravity on each wheel is adjusted by the rotation of the rocker arm 205 and the auxiliary wheel 211. Every two wheels of the eight wheels in the suspension are hinged to the same connecting rod pressure arm 204 through the rocker arm 205, so that the gravity can be evenly distributed to each wheel, realizing eight-wheel adaptive terrain changes.

[0033] S22, when H>H max or θ>θmax When the vehicle is in a state of upright position, it unfolds the four supporting feet in the vertical and moving directions, adjusts each foot to the appropriate position, starts the wheel-leg coordinated travel mode, retracts the supporting feet after passing the obstacle and resumes wheel travel. When the obstacle is not passed, it switches to the diagonal supporting feet to exert force and continues to adjust the support until the obstacle is passed.

[0034] Maximum obstacle clearance height H of the gear train max The calculation formula is: ; Where, Maximum wheel passing height; — wheel diameter; —Contact angle between wheel and obstacle; —The length of the rocker arm from the hinge to the wheel center; —Maximum compression rocker arm angle; — Rocker arm angle at the initial position.

[0035] Maximum wheel passing slope θ max The calculation formula is: ; Where θ max — Maximum wheel passing slope; —The distance between the centers of the front and rear wheels of the lunar rover; —The center distance between the two wheels of the lunar rover and the rocker arm; — Lunar rover hinge ground clearance; —Height of the lunar rover's center of mass; —slope safety margin; The relationship between wheel ground pressure p and subsidence depth z is: .

[0036] Maximum shear stress : .

[0037] Normal load: .

[0038] The coefficient of adhesion is defined as the ratio of the traction force to the normal load: ; Where, —wheel ground contact pressure; —Deepness of lunar soil subsidence; —soil cohesion modulus; —soil friction modulus; — wheel contact width; —The subsidence index of lunar soil is usually 1 to 1.2; —Soil cohesion is generally taken as .

[0039] Safety Margin The calculation formula is: ; Where, —Experienced value of critical slope safety margin, generally ; —Calibrated value of Young’s modulus of lunar soil.

[0040] S3. When the vehicle body sensor detects that the vehicle has tilted too much for a long time or the pressure on a single wheel increases sharply, the roof opening and closing assembly 4 is activated, the detection mast 71 is retracted into the vehicle and fixed on the buckle 75, and the slider 404 drives the protective roof 411 to close.

[0041] S4. When the vehicle body is stable, the diagonal support legs are unfolded, the foot ends touch the ground, and the appropriate position is adjusted to start lifting the vehicle body. The four legs work together to level the vehicle, reduce the inclination angle, and re-ground the wheels on both sides.

[0042] S5. After the suspension is retracted to the equilibrium position, the laser radar 74 confirms that the terrain ahead is flat, the attitude adjustment component 3 is retracted, the protective dome 411 is opened, and the detection mast 71 is rotated back to a vertical position to continue moving forward.

[0043] The following further explains the operation of the present invention: During the driving process, the lunar exploration rover unfolds the protective roof 411, and the solar panels on the dome provide power for the vehicle. The roller cleaning assembly 5 on the solar panels starts working at the same time. The cleaner on the solar side panel makes a back-and-forth linear motion on the track to directly sweep away the lunar dust. The vehicle body is driven by the robotic arm 51 to make a fan-shaped swing on the solar panel. The cleaning brush 54 rotates to sweep the lunar dust on the solar panel into the dust collection bin of the cleaning bracket 52 to collect the lunar dust in the air. At the same time, the corners of the car body and the panoramic camera 72 lens are cleaned regularly to ensure the precision of the lens. After the vehicle drives to the workstation, the door slider 64 and the door connecting rod 61 work together to drive the door to open. After completing the docking work, the robotic arm 51 pours the lunar dust accumulated on the front robotic arm onto the conveyor belt, and transports it to the lunar dust transmission point as the conveyor belt 65 axis rotates.

[0044] The detection mast 71 is unfolded, and the lidar 74 detects the thickness, slope and shallow structure of the lunar soil along the patrol route. The panoramic camera 72 can rotate freely on the mast to obtain images of the lunar surface in the patrol area, and the communication antenna 73 transmits the detection data back to Earth.

[0045] If the vehicle encounters an emergency situation while driving on the lunar surface, such as excessive lunar dust concentration or accidental overturning, the exploration mast 71 will automatically retract into the vehicle compartment and be quickly locked by the buckle 75. At the same time, the switch slider 404 moves linearly along the roof rail 405, driving the protective roof 411 to complete the closing action, forming a fully sealed and protective state for the lunar vehicle compartment. After the emergency is no longer dangerous, the protective roof 411 will open again, and the exploration mast 71 will rise again to resume the exploration mission.

[0046] Obstacles are determined by the thickness and slope of the lunar soil identified by LiDAR. In flat areas and when the obstacle height is less than H max And the slope is less than θ max When the vehicle is overturned, the moving component 2, i.e. the wheel system, is used to overcome obstacles. A differential 203 is installed on the drive shaft 201. When one wheel is lifted, the wheels on both sides are allowed to rotate at different speeds to avoid power interruption. The connecting arm pressure rod 204 rotates relative to the vehicle and drives the rocker arm 205 to rotate, lifting the wheel to overcome the obstacle. The four wheels in front, behind, left and right can rotate with the wheel steering plate 207, which improves terrain adaptability. When the obstacle height is greater than , the posture adjustment component 3 is started, the extension drive motor 307 drives the supporting foot to move in the x direction, the abduction drive motor 303 drives the supporting foot to move in the y direction, the extension crank 310 rotates to drive the extension rocker 311, and the knee joint connects the shank 312 and the foot 313 to flex and extend. After adjusting to the appropriate position, the auxiliary wheel system moves slowly until the obstacle is crossed.

[0047] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A lunar rover with obstacle-crossing capability, characterized by: It includes a vehicle body, a posture adjustment component and a roof opening and closing component; The posture adjustment component includes an abduction drive motor, an abduction drive gear, an abduction driven gear, an extension drive motor, an extension drive gear, an extension driven gear, an extension crank, an extension rocker, a small leg, a foot and a large leg; the abduction drive gear is connected to the abduction drive motor, the abduction driven gear is meshed with the abduction drive gear for transmission, the extension drive motor is connected to the abduction driven gear through a motor mounting plate, the extension drive gear is connected to the extension drive motor, the extension driven gear is meshed with the extension drive gear for transmission, the first end of the extension crank is connected to the extension driven gear, the first end of the extension rocker is hinged to the second end of the extension crank, the first end of the small leg is hinged to the second end of the extension rocker, the foot is arranged at the second end of the small leg, the first end of the large leg is connected to the extension drive gear, and the second end of the large leg is hinged to the first end of the small leg; The roof opening and closing assembly includes a crank main gear, a crank sub-gear, a driving crank, a slider, a slide rail, a first connecting rod, a roof connecting piece, a second connecting rod, a third connecting rod and a connecting rod rotating shaft. The crank main gear is connected to the driving motor, the crank sub-gear is meshed with the crank main gear for transmission, the first end of the driving crank is hinged to the crank sub-gear, the second end of the driving crank is hinged to the slider, the slider is slidably connected to the slide rail, the first end of the first connecting rod is hinged to the slider, the roof connecting piece is hinged to the second end of the first connecting rod, the first end of the second connecting rod is hinged to the vehicle body, the second end of the second connecting rod is hinged to the roof connecting piece through the third connecting rod, and the first connecting rod and the second connecting rod are hinged.

2. The lunar rover with obstacle-crossing function according to claim 1, characterized in that: It also includes a moving assembly, which includes a transmission shaft, a connecting seat, a differential, a connecting rod pressure arm, a rocker arm, a steering motor, a steering plate, a first drive motor, a steering wheel, a second drive motor and an auxiliary wheel; the transmission shaft is connected to the vehicle body through the connecting seat, the differential is arranged on the transmission shaft, the first end of the connecting rod pressure arm is hinged to the two ends of the transmission shaft respectively, the rocker arm is hinged to the second end of the connecting rod pressure arm, the steering motor is connected to the first end of the rocker arm, the first drive motor is connected to the output end of the steering motor through the steering plate, the steering wheel is connected to the output end of the first drive motor, the second drive motor is connected to the second end of the rocker arm, and the auxiliary wheel is connected to the second drive motor.

3. The lunar rover with obstacle-crossing function according to claim 2, characterized in that: It also includes a roller cleaning assembly, which includes a mechanical arm, a cleaning bracket, a rotating roller, a cleaning brush and a solar panel; the mechanical arm is arranged on both sides of the vehicle body, the cleaning bracket is arranged at the end of the mechanical arm, the two ends of the rotating roller are rotatably connected to the cleaning bracket, the cleaning brush is arranged on the rotating roller, and the solar panels are symmetrically arranged on both sides of the vehicle body, and the solar panels are fan-shaped.

4. The lunar rover with obstacle-crossing function according to claim 2, characterized in that: It also includes a lunar dust transmission component, which includes a door connecting rod, a door, a door sliding rail, a door slider and a conveyor belt. The first end of the door connecting rod is hinged to the vehicle body, the first end of the door is hinged to the second end of the door connecting rod, the door sliding rail is set on the vehicle body, the second end of the door is slidably connected to the door sliding rail through the door opening slider, and the conveyor belt is set below the vehicle door.

5. The lunar exploration rover with obstacle-crossing function according to claim 2, characterized in that: It also includes a detection component, which includes a detection mast, a panoramic camera, a communication antenna, a laser radar and a buckle. The panoramic camera is arranged at the top of the detection mast, the communication antenna is arranged at the upper middle part of the detection mast, the laser radar is arranged on the vehicle body, and the buckle is arranged inside the vehicle body. When the detection mast is retracted, the buckle engages with the detection mast.

6. The lunar exploration rover with obstacle-crossing function according to claim 1, characterized in that: The posture adjustment component also includes a leg connector, an outward flange and an outward shaft. The leg connector is connected to the vehicle body, the outward flange is connected to the leg connector, the outward drive motor is connected to the outward flange, the first end of the outward shaft is rotatably connected to the outward flange, the second end of the outward shaft is rotatably connected to the leg connector, and the outward driven gear is connected to the outward shaft; the roof opening and closing component also includes a protective roof, a locking magnet and a dust cover. The protective roof is connected to the roof connector. The protective roof adopts a dome, and the outside of the dome is coated with a dust-repellent layer. The locking magnet is arranged at the edge of the protective roof, and the dust cover is connected to the vehicle body.

7. The lunar exploration rover with obstacle-crossing function according to claim 1, characterized in that: There are four groups of posture adjustment components, which are mirror-symmetrically arranged on both sides of the vehicle body. There are two protective roofs, which are mirror-symmetrically arranged above the vehicle body. There are four groups of roof opening and closing components, which are evenly distributed inside the vehicle body.

8. The lunar exploration rover with obstacle-crossing function according to claim 2, characterized in that: Two groups of mobile components are set up, which are mirror-symmetrically arranged at the bottom of the vehicle body. There are four steering wheels and four auxiliary wheels. The rotation axis of the steering motor is perpendicular to the rotation axis of the steering wheel, the rotation axes of each auxiliary wheel are parallel to each other, and the rotation axis of the auxiliary wheel is parallel to the rotation axis of the drive shaft.

9. An obstacle surmounting method for a lunar exploration rover having an obstacle surmounting function according to any one of claims 1 to 8, characterized in that: It includes the following steps: S1. The lunar rover's lidar scans the terrain ahead and identifies the obstacle height H and slope θ; S2. Real-time introduction of lunar soil Young's modulus estimation, dynamic adjustment of H max and θ max Threshold: when the obstacle is lower than or equal to the maximum height H of the wheel system max And the slope is less than or equal to the maximum slope θ max , H≤H max And θ≤θ max When H>H max or θ>θ max When the vehicle is in the state of being overthrown, the posture adjustment component is turned on to help the vehicle overcome obstacles; Maximum obstacle clearance height H of the gear train max The calculation formula is: ； Where, is the maximum passing height of the wheel; is the wheel diameter; is the contact angle between the wheel and the obstacle; is the rocker arm length from hinge to wheel center; is the maximum compression rocker arm angle; is the rocker arm angle at the initial position; Maximum wheel passing slope θ max The calculation formula is: ； Where θ max — Maximum wheel passing slope; —The distance between the centers of the front and rear wheels of the lunar rover; —The center distance between the two wheels of the lunar rover and the rocker arm; — Lunar rover hinge ground clearance; —Height of the lunar rover's center of mass; —slope safety margin; S3. When the vehicle body sensor detects that the vehicle has tilted at an excessively large angle for a period of time or that the pressure on a single wheel has increased, the roof opening and closing assembly is activated, the detection mast is retracted into the vehicle and fixed to the buckle, and the slider drives the protective roof to close; S4: When the vehicle body is stable, the diagonal support legs are deployed, the legs touch the ground, and the vehicle body is lifted after adjusting to the appropriate position. The four legs work together to level the vehicle, reducing the vehicle's inclination angle and re-grounding the wheels on both sides. S5. When the suspension is retracted to the balanced position and the laser radar confirms that the terrain ahead is flat, the attitude adjustment component is retracted, the protective dome is opened, the detection mast is rotated back to a vertical position on the ground, and the vehicle continues to move forward.

10. The obstacle surmounting method for a lunar exploration rover having an obstacle surmounting function according to claim 9, characterized in that: Step S2 is specifically as follows: S21, when H≤H max & θ≤θ max When the vehicle is in a state of equilibrium, the connecting rod pressure arm rotates relative to the vehicle body, and the component of gravity on each wheel is adjusted through the rotation of the rocker arm and the auxiliary wheel. Every two wheels of the eight wheels of the suspension are hinged to the same connecting rod pressure arm through the rocker arm, so that each wheel can evenly distribute gravity, realizing eight-wheel adaptive terrain changes; S22, when H>H max or θ>θ max When the vehicle is in the vertical and moving directions, the four support feet are deployed and adjusted to the appropriate position to start the wheel-leg coordinated travel mode; after passing the obstacle, the support feet are retracted to resume wheel travel; when the obstacle is not passed, the diagonal support feet are switched to exert force and the support is continued to be adjusted until the obstacle is passed.

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