Abstract: To improve the recognition speed at the interface between lunar soil and lunar rock, the characteristics of drilling signals when the blades contacting and penetrating rock block are analyzed, and an interface recognition method based on continuous wavelet transform is proposed. This method provides the threshold of continuous wavelet transform to detect the contact status at the interface. The detection results are insensitive to the drilling parameters and have anti-noise capability. The experimental results of drilling lunar soil simulant and lunar rock simulant multilayered medium indicate that the proposed method is capable of detecting drill media variation promptly and adjusting the drilling parameters, and can realize autonomous drilling and sampling with environment adaptability.