Lunar vehicle high speed three-dimensional laser imaging radar system and imaging method

Abstract

The invention provides a high-speed three-dimensional laser imaging radar system of a lunar rover and an imaging method thereof; wherein, the system comprises a dot structure ray laser range finder, a scanning dual-driving brushless servo motor system and a laser reflecting prism; a vertical motor and a horizontal motor with the installation position in 90 degrees are provided; the axis line on which the two motor output shafts are arranged is crossed with the laser ray at the reflecting inclined surface center of the prism; the vertical motor controls the prism to continuously spin on the plane vertical to the output shaft of the prism along the axis line direction; the other horizontal motor adopts a stepping type to control the plane to carry out pitching rotation within a certain range on the vertical direction; furthermore, a photoelectric encoder, an encoding device and a high-speed collecting interface matched with the laser range finder are provided; the obtained distance and the sampling data of the rolling and pitching angle of the prism are synchronous data, the structure is compact, the weight is light, the volume is small, the power dissipation is low, the scanning speed is fast, the laser reflecting prism rotates at high speed and is beneficial to dust prevention, and the three-dimensional data has high precision and good synchronization effect.

Description

technical field [0001] The invention relates to a high-speed three-dimensional laser imaging radar system, in particular to a lunar rover high-speed three-dimensional laser imaging radar system and an imaging method. As an important visual sensor of the lunar rover prototype system, this system detects the working environment in front of the lunar rover and uses the acquired position information to establish a 3D point cloud model, providing an important visual basis for the rover’s path planning and autonomous navigation. Background technique [0002] There are two main types of lidar: two-dimensional and three-dimensional. Two-dimensional lidar only scans to obtain distance information on a fixed plane, that is, single-line scanning; three-dimensional lidar can be considered as multi-line scanning completed on a rotating plane. Three-dimensional lidar has greater application value in the fields of complex terrain robot positioning, drawing environmental maps, and engineeri...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a lunar rover high-speed three-dimensional laser imaging radar system and an imaging method to change the existing three-dimensional laser radar with large volume, slow scanning speed, and limited working environment, so that the invention can be used in strong light environments. Under normal working conditions, the measurement accuracy is guaranteed in harsh environments

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