Leg-foot type intelligent satellite surface detection robot sensing system and working method thereof

Abstract

The invention discloses a leg-foot type intelligent star surface detection robot sensing system and a working method thereof. The leg-foot type intelligent star surface detection robot sensing systemcomprises a three-dimensional laser sensor, a left-eye visible light camera, a right-eye visible light camera, a structured light measurement camera, an inertia measurement unit and an industrial personal computer. The working method comprises the following steps of: 1) integrating the three-dimensional laser sensor, the structured light measurement camera and the inertia measurement unit to realize the functions of three-dimensional reconstruction of complex topography and landform of a star surface, multi-level semantic topological map construction, robot positioning, real-time detection ofstatic / dynamic obstacles, path optimization based on robot motion constraint, trajectory tracking and the like; and 2) and centralizing the binocular vision cameras for carrying out high-precision three-dimensional pose measurement on a to-be-collected sample. The leg-foot type intelligent star surface detection robot sensing system not only can assist the foot-type robot to autonomously adapt todifferent terrain environments such as soft and hard terrain environments, realize long-distance, intelligent obstacle avoidance and autonomous roaming and safely arrive at a pre-specified target detection position, but further can assist a mechanical arm tail end tool to perform refined operation on a collected sample.

Description

Technical field [0001] The invention belongs to the field of computer vision, and specifically relates to a leg-foot intelligent star catalog detection robot sensing system and its working method, and is especially suitable for subsequent deep space perception, mapping, positioning and autonomous navigation of unknown, complex, and unstructured environments. Detect mission requirements. Background technique [0002] Inspection and reconnaissance is one of the indispensable core requirements of the follow-up deep space exploration mission planning, which specifically involves star catalog inspections, resource exploration, sample collection at exploration sites, scientific instrument deployment, and scientific experiment implementation. The main goal is to expand the area as much as possible. The scientific detection range focuses on the accessibility, control precision and autonomy of complex areas. [0003] The existing robot perception system has the following problems and short...

AI Technical Summary

Problems solved by technology

[0006]The above-mentioned robots are all equipped with mechanical arms to carry out non-contact surveys of star surface terrain, materials, etc., but they do not involve the robotic arms to perform refined operations such as sample collection and transfer

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