A lunar rover dust-raising field three-dimensional detection system based on light scattering-TOF fusion

Abstract

The application discloses a lunar rover dust field three-dimensional detection system based on light scattering-TOF fusion, and relates to the technical fields of lunar exploration and lunar dust optical detection. In order to solve the defects that the detection mode of the prior art cannot adapt to the vacuum environment, the scattering measurement precision of the high-charged lunar dust is insufficient, and different distance scattering signals cannot be distinguished, the technical scheme provided by the application comprises a plurality of groups of laser-detector modules fixedly installed at various parts of a vehicle body, a small-aperture diaphragm and narrow-pulse laser are adopted to realize scattering light direction limitation and distance distinction, a circuit control module realizes synchronous triggering and data acquisition, a data processing module fuses time and intensity signals to inversely calculate a three-dimensional dust field, and a visual module outputs a thermal map and realizes over-threshold alarm. The application is suitable for real-time three-dimensional detection and safety protection of a surrounding dust field in the process that a lunar rover patrols and operates on the lunar surface.

Description

Technical Field

[0001] This involves the field of lunar exploration and lunar dust optical detection technology, specifically the three-dimensional detection of lunar rover dust fields based on light scattering-TOF fusion. Background Technology

[0002] In the lunar environment, dust pollution presents a more complex and severe challenge. The lunar surface is almost entirely a vacuum, lacking atmospheric damping and gas transport mechanisms. Therefore, once the lunar regolith is mechanically disturbed, fine particles can be ejected or floated around the rover for extended periods, forming dense and persistent dust clouds. These lunar dust particles carry high static charges, making them prone to adhering to equipment casings and optical windows under intense solar radiation and cosmic rays. This not only causes data drift and image degradation but may also lead to secondary problems such as charge discharge or thermal instability after long-term accumulation. Especially when the lunar rover travels at high speeds, turns, or brakes, the squeezing and cutting action of the wheels on the lunar regolith will stir up large areas of dust, which can even cover critical components such as navigation cameras, spectrometers, and solar panels, directly threatening mission safety.

[0003] Traditional methods for detecting lunar dust, applicable to terrestrial conditions, are difficult to apply in the lunar environment. Suction-type negative pressure detection methods cannot establish airflow pathways under vacuum conditions, and their sampling pipes are easily clogged by lunar dust particles, leading to system failure. Mechanical sampling devices, due to their moving parts, are prone to malfunction or wear under prolonged exposure to the lunar surface's high and low temperature cycles and charge accumulation environment. Furthermore, light scattering methods using single-beam lasers can only measure single-point or single-line concentration distributions, lacking spatial resolution and failing to describe the dynamic process of "wheel lifting—chassis accumulation—rear-end diffusion," thus failing to provide reliable data support for lunar rover navigation and protection.

[0004] Furthermore, lunar dust exhibits fundamentally different optical properties from terrestrial dust. Its particle size is mostly below 1 micrometer, with a rough surface and polyhedral shape, resulting in significant non-uniform diffuse scattering of light. Traditional concentration inversion algorithms based on the Lambert model or simplified Mie scattering assumptions suffer from substantial errors. Simultaneously, the intense sunlight reflection and background radiation on the lunar surface significantly interfere with laser signals, reducing the sensitivity of scattering methods. For Time-of-Flight (TOF) detection technology, the lack of a stable reflective target in the dust field, coupled with the superposition of dust particles from different distances and directions, often leads to multi-distance signal aliasing, resulting in ambiguous distance determination and an inability to accurately correlate concentration with spatial location, thus hindering the formation of a realistic three-dimensional dust field distribution model.

[0005] While existing research has conducted some simulations and verifications in Earth laboratory environments, it still cannot solve the key problem of achieving real-time, high-resolution three-dimensional dust field detection in the extreme environments of the Moon, such as low gravity, vacuum, high radiation, and multiple charged particles. There is a lack of a fusion detection system that can simultaneously take into account light scattering characteristics and distance measurement accuracy, and a comprehensive detection layout suitable for the complex dust flow around the lunar rover has not yet been formed.

[0006] In summary, existing technologies have several drawbacks in the lunar environment, including the inability of detection methods to adapt to the vacuum environment, insufficient accuracy in measuring the scattering of highly charged lunar dust, difficulty in distinguishing scattering signals from different distances, lack of comprehensive coverage of the three-dimensional space surrounding the vehicle, and the absence of a detection system that can operate reliably for a long period of time. Summary of the Invention

[0007] To address the shortcomings of existing technologies in lunar environments, such as inability to adapt detection methods to the vacuum environment, insufficient accuracy in measuring the scattering of highly charged lunar dust, difficulty in distinguishing scattering signals from different distances, lack of comprehensive coverage of the three-dimensional space surrounding the rover, and the absence of a reliable detection system for long-term operation, the present invention provides the following technical solution: A three-dimensional detection system for lunar rover dust fields based on light scattering-TOF fusion includes: The laser-detector module is packaged in an integrated manner, including a detector equipped with a pinhole aperture and a narrowband filter to receive only scattered light from a fixed direction, and a laser emitter that emits narrow pulse laser light; The laser-detector modules are fixedly installed on the structural surface of the lunar rover. Multiple laser-detector modules are distributed at the wheel, chassis, front, rear and body positions, forming a three-dimensional detection network. The circuit control module is fixedly installed on the surface of the lunar rover and is used to synchronously control laser emission and scattered light signal reception; The data processing module is fixedly installed on the surface of the lunar rover to fuse TOF time information with scattered light intensity, invert the distance of the scattering point and dust concentration, and generate a three-dimensional dust concentration point cloud map. The visualization module is used to output a three-dimensional dust concentration heat map and to implement over-threshold alarm and task data recording functions.

[0008] Furthermore, in a preferred embodiment, there are 12 laser-detector modules, namely, 4 wheel groups, 2 chassis groups, 2 front groups, 2 body groups, and 2 rear groups, respectively.

[0009] Furthermore, in a preferred embodiment, the data processing module calculates the distance corresponding to the dust concentration based on the TOF principle and the reception time of the scattered light.

[0010] Furthermore, in a preferred embodiment, the laser emitter emits a narrow pulse laser with a pulse width much smaller than the time difference between the arrival of scattered light from different distances at the detector.

[0011] Furthermore, in a preferred embodiment, a pinhole aperture and a narrowband filter are provided in front of the detector to receive only scattered laser light from a single direction and filter out the lunar surface sunlight background.

[0012] Furthermore, in a preferred embodiment, the data processing module, based on the Mie scattering principle, inverts the average dust concentration for the corresponding distance segment according to the scattered light intensity signal output by the detector and in combination with a preset calibration curve.

[0013] Based on the same inventive concept, this invention also provides a three-dimensional detection method for lunar rover dust fields, the method being implemented based on the aforementioned system, comprising: The steps for time-sharing activation of each laser-detector module; The steps for controlling the laser emission time and recording the scattered light reception time; The steps are: calculating the distance to the scattering point based on the time difference between transmission and reception, and calculating the dust concentration based on the intensity of the scattered light; The step of converting the distance of the scattering point into three-dimensional coordinates through coordinate transformation to generate a three-dimensional dust concentration distribution map; Determine whether the dust concentration exceeds a preset threshold; if it does, execute an early warning and output an alert.

[0014] Based on the same inventive concept, the present invention also provides a computer storage medium for storing a computer program, wherein when the computer program is read by a computer, the computer executes the method described thereon.

[0015] Based on the same inventive concept, the present invention also provides a computer, including a processor and a storage medium, wherein when the processor reads a computer program stored in the storage medium, the computer executes the method described thereon.

[0016] Based on the same inventive concept, the present invention also provides a computer program product, which, when executed, implements the method described.

[0017] Compared with the prior art, the advantages of the technical solution provided by the present invention are as follows: The laser-detector module employs a narrow-pulse laser and a pinhole aperture structure, enabling temporally distinguishable differences in the scattered light signals at different distances. This avoids the ranging ambiguity caused by multi-distance mixing in traditional scattering methods, thus achieving a one-to-one correspondence between dust concentration and distance, significantly improving distance resolution and concentration inversion accuracy. Compared to existing single-beam laser detection, this structure effectively reduces signal superposition errors caused by multi-directional scattering of lunar dust by suppressing diffuse scattering interference and fixing the incident angle.

[0018] The circuit control module, through precise timing synchronization and time-division triggering mechanisms, enables the twelve laser-detector modules to operate sequentially in a predetermined order. This avoids power overload and signal crosstalk caused by simultaneous firing of multiple modules, while also achieving high timing consistency in signal acquisition from all directions. This synchronization control method significantly improves the system's stability and noise immunity in the low-gravity, high-electromagnetic-interference environment of the lunar rover, making the 3D detection results more reliable.

[0019] The data processing module utilizes a combination of scattered light intensity and Time-of-Flight (TOF) time difference calculations to achieve a two-dimensional inversion of dust concentration and distance. Combined with a dedicated calibration curve based on lunar dust characteristics, the system can accurately distinguish concentration variations across different spatial layers, generating a realistic three-dimensional concentration distribution map. Compared to algorithms relying solely on single scattered light intensity or reflected echoes, this fusion inversion method effectively solves the problems of concentration estimation bias and inaccurate depth positioning, enabling a quantitative representation of the spatial distribution of the dust field.

[0020] The modular layout is designed to follow the dust flow propagation patterns around the lunar rover, forming a multi-angle monitoring network covering the wheels, chassis, front, body, and rear. This achieves blind-spot-free coverage of the entire dust generation and accumulation process. Compared to existing single-point detection systems, this structure can identify localized high-concentration dust clouds in the chassis accumulation area and the rear diffusion area, issuing early warnings and significantly improving the lunar rover's environmental perception and protection capabilities in complex terrain.

[0021] The system features a design with no dynamic components, replacing traditional mechanical scanning mechanisms with a fixed, integrated laser-detector array. This avoids the risk of mechanical failure in vacuum and temperature differential environments, improving the reliability and lifespan of long-term missions. Compared to rotating mirror or scanning optical systems, this approach maintains stable operation under extreme temperature cycling and strong radiation conditions, making it more suitable for long-term lunar exploration and landing missions.

[0022] It is suitable for real-time three-dimensional detection and safety protection of surrounding dust fields during lunar rover exploration and operation. Attached Figure Description

[0023] Figure 1A schematic diagram of a three-dimensional dust field detection system based on light scattering-TOF fusion installed on a lunar rover; Figure 2 for Figure 1 The front view; Figure 3 for Figure 1 Side view; Figure 4 for Figure 1 Top view. Detailed Implementation

[0024] To make the advantages and benefits of the technical solution provided by the present invention clearer, the technical solution provided by the present invention will now be described in further detail with reference to the accompanying drawings, specifically: Implementation Method 1: This implementation method provides a three-dimensional detection system for lunar rover dust fields based on light scattering-TOF fusion, including: The laser-detector module is packaged in an integrated manner, including a detector equipped with a pinhole aperture and a narrowband filter to receive only scattered light from a fixed direction, and a laser emitter that emits narrow pulse laser light; The laser-detector modules are fixedly installed on the structural surface of the lunar rover. Multiple laser-detector modules are distributed at the wheel, chassis, front, rear and body positions, forming a three-dimensional detection network. The circuit control module is fixedly installed on the surface of the lunar rover and is used to synchronously control laser emission and scattered light signal reception; The data processing module is fixedly installed on the surface of the lunar rover to fuse TOF time information with scattered light intensity, invert the distance of the scattering point and dust concentration, and generate a three-dimensional dust concentration point cloud map. The visualization module is used to output a three-dimensional dust concentration heat map and to implement over-threshold alarm and task data recording functions.

[0025] There are 12 laser-detector modules: 4 for the wheel assembly, 2 for the chassis assembly, 2 for the front assembly, 2 for the body assembly, and 2 for the rear assembly.

[0026] The data processing module is based on the Time-of-Flight (TOF) principle and calculates the distance corresponding to the dust concentration by the time it takes to receive the scattered light.

[0027] The laser emitter emits narrow pulse lasers, the pulse width of which is much smaller than the time difference between the scattered light from different distances reaching the detector.

[0028] A pinhole aperture and a narrowband filter are installed in front of the detector to receive only scattered laser light from a single direction and filter out the background sunlight on the lunar surface.

[0029] The data processing module is based on the Mie scattering principle. It uses the scattered light intensity signal output by the detector and a preset calibration curve to invert the average dust concentration for the corresponding distance range.

[0030] A three-dimensional detection method for lunar rover dust fields is also provided. The method is based on the aforementioned system and includes: The steps for time-sharing activation of each laser-detector module; The steps for controlling the laser emission time and recording the scattered light reception time; The steps are: calculating the distance to the scattering point based on the time difference between transmission and reception, and calculating the dust concentration based on the intensity of the scattered light; The step of converting the distance of the scattering point into three-dimensional coordinates through coordinate transformation to generate a three-dimensional dust concentration distribution map; Determine whether the dust concentration exceeds a preset threshold; if it does, execute an early warning and output an alert.

[0031] A computer storage medium is also provided for storing a computer program, which, when read by the computer, executes the method.

[0032] A computer is also provided, including a processor and a storage medium, wherein the computer executes the method when the processor reads a computer program stored in the storage medium.

[0033] A computer program product is also provided, which, when executed, implements the method described.

[0034] Implementation Method Two: This implementation method is a further detailed description of the technical solution provided in Implementation Method One, specifically: This embodiment provides a three-dimensional detection system for lunar rover dust fields based on the fusion of light scattering and Time-of-Flight (TOF) measurements. The entire system's construction and workflow follow a strict logical sequence, forming a complete closed loop from system structure design to signal processing and data output. The system mainly consists of a laser-detector module, a circuit control module, a data processing module, and a visualization module. These modules work together to achieve three-dimensional detection and dynamic early warning of the dust field around the lunar rover. This technology is the first to use light scattering signals as the carrier of TOF ranging signals, achieving simultaneous analysis of concentration and distance. It is also the first mechanically component-free three-dimensional detection system proposed in the lunar vacuum and low-gravity environment.

[0035] The establishment of the system structure is the starting point of the entire scheme. The system framework revolves around twelve integrated laser-detector modules, which are fixedly installed in different parts of the lunar rover, including four wheel groups, two chassis groups, two front groups, two body groups, and two rear groups. The installation positions of each module are arranged according to the dust generation and diffusion path, so that the detection field of view covers the entire spatial range from the dust source raised by the wheels to the dust accumulation area on the chassis and then to the diffusion areas at the front and rear of the rover, forming a surround three-dimensional monitoring layout. The modules are fixed to the rover frame or structural support and are encapsulated in vacuum-resistant and radiation-resistant metal shells. All modules are connected to the main control circuit via a signal bus.

[0036] After system startup, the laser-detector module initialization is performed first. Each module consists of a narrow-pulse laser emitter and a high-sensitivity photodetector, which are encapsulated in an integrated housing to ensure optical path stability. The emitter receives a trigger signal from the circuit control module and emits a short-pulse laser in a predetermined direction. To avoid interference from signals from multiple directions, a pinhole aperture is configured at the front of the detector, limiting the incident scattered light to a fixed angle range and ensuring that the light signal received by each module comes from a single direction. A narrow-band filter is also installed in front of the detector, allowing only light matching the laser wavelength to enter, effectively filtering out strong lunar surface reflections and solar background light. The laser emission angle and incident angle are designed based on the size of the lunar rover, wheel track, and chassis height, enabling multiple modules to form a complementary detection network, covering the entire three-dimensional space from low-angle monitoring of dust sources to high-angle monitoring of the diffusion layer.

[0037] After the laser modules are ready, the circuit control module begins coordinating the operation of the entire system. The circuit control module comprises three parts: a power management unit, a timing control unit, and a signal synchronization unit. The power management unit provides a stable DC voltage to the twelve modules and features overvoltage, overcurrent, and temperature protection functions to ensure long-term system operation in the harsh lunar environment with its extreme temperature variations. The timing control unit generates a high-precision reference clock via an internal crystal oscillator and uses time-division triggering logic to control the sequential activation of each module. This time-division operation mode avoids instantaneous power overload or signal crosstalk caused by simultaneous emission from multiple lasers. The signal synchronization unit generates a global trigger reference signal to calibrate the time difference between laser emission and detector reception, ensuring strict synchronization of different modules with nanosecond-level time accuracy, providing a unified time base for TOF ranging.

[0038] Based on time synchronization, the data processing module performs signal acquisition and calculation tasks. The module receives electrical signals and timestamp data output from each detector via a high-speed bus and simultaneously processes input signals from different directions using a parallel computing core. First, it calculates the dust concentration in that direction based on the scattered light intensity and an established calibration curve of lunar dust scattering characteristics. This calibration curve, derived from ground vacuum simulation experiments and Mie scattering theory, corresponds to the reflection characteristics of different particle size distributions. Then, it calculates the distance from the scattering point to the detector based on the time difference between laser emission and scattered light reception. By integrating the module installation angle and the measured distance values, the results are converted into three-dimensional coordinates, establishing the correspondence between concentration values ​​and spatial location. Finally, a three-dimensional point cloud dataset containing location coordinates and concentration information is generated, providing a foundation for dust field reconstruction.

[0039] After acquiring the data, the data processing module further performs 3D modeling and dynamic early warning operations. Point cloud data is transformed into a continuous 3D concentration distribution model through interpolation and meshing algorithms. The system monitors the concentration changes of each spatial unit in real time. When the concentration in a certain area exceeds a set threshold, an early warning signal is immediately sent to the lunar rover's main control system, instructing the vehicle to decelerate or steer. This module supports multi-level threshold settings and can be flexibly adjusted according to mission stages, such as employing different sensitivity strategies during drilling, start-up, or high-speed travel to ensure mission safety.

[0040] The visualization module, serving as the system's output, displays detection results and enables human interaction. The module includes an embedded display screen and visualization software, capable of presenting a real-time heatmap of the 3D dust field concentration distribution. The interface uses color depth to represent concentration levels, with darker colors indicating higher concentrations. Operators can select the detection direction, adjust the sampling cycle, set warning parameters, or recall historical data via the software control panel. The system automatically stores real-time data to local storage and supports uploading it to a ground-based mission center when communication conditions permit, for scientific research analysis and equipment evaluation.

[0041] To ensure the system's continuous and stable operation during long-term tasks, this invention incorporates fault-tolerant and adaptive mechanisms at the hardware level. When a module experiences signal anomalies due to high temperature, radiation, or dust accumulation, the control module can compensate by adjusting the emission angle or sampling window of other modules to maintain the integrity and data continuity of the 3D detection. The system software features module health monitoring and self-checking functions, which can log and reassign detection tasks when anomalies occur, thereby ensuring the system's long-term reliability and task continuity.

[0042] Through the above steps, this invention achieves real-time three-dimensional dust field detection in the lunar vacuum and low gravity environment, solving the problems of traditional detection technologies, such as the inability to sample in a vacuum, the inability to distinguish multi-distance scattering signals, and the lack of full-space coverage. Narrow-pulse lasers and a pinhole aperture structure ensure a unique propagation path for the scattered light; time-division triggering and high-precision synchronous control ensure ranging accuracy; and fusion of scattering-TOF signals enables joint inversion of concentration and distance. This system requires no mechanical scanning components and can operate for extended periods in high-radiation and high-temperature differential environments, providing a reliable environmental sensing means for lunar rovers and other lunar surface equipment. It is the first three-dimensional optical detection system for lunar dust fields to be publicly disclosed in current literature.

[0043] Implementation Method 3: This implementation method is described in detail with reference to the accompanying drawings. Specific embodiments are provided to further illustrate the technical solution provided above. Specifically: This embodiment addresses the shortcomings of existing technologies by providing a three-dimensional detection system for lunar rover dust fields that integrates light scattering and Time-of-Flight (TOF) methods. It employs 12 fixed laser-detector integrated modules, using narrow-pulse lasers and pinhole apertures to transmit scattered light as TOF distance signals, and combines time window division to achieve dust concentration measurement at different distances.

[0044] This system consists of 5 core modules: Laser-Detector Module: This module mainly consists of a laser transmitter and a receiver. The laser transmitter receives a control signal and emits a narrow-pulse laser in a designated direction. The detector receives the scattered laser and records its intensity and reception time. The detector is equipped with a pinhole aperture to receive only scattered light from a specific direction, ensuring a unique propagation path for the scattered light. Scattered light received by the same module comes from only one fixed direction, solving the problem of "multi-directional propagation." The narrow-pulse laser creates a clear time difference between scattered light from different distances, a time difference much greater than the pulse width, avoiding "mixing at multiple distances." A narrow-band filter is installed in front of the detector to filter out the lunar surface sunlight background and reduce environmental interference.

[0045] Circuit control module: Provides stable power to each module, ensuring normal operation. Controls the timing synchronization of laser emission and signal reception to avoid distance errors caused by signal delay. Generates high-precision synchronization trigger signals to control the time-sharing operation of the 12 modules, preventing power overload caused by simultaneous triggering.

[0046] Data processing module: Receives scattered light intensity and timestamp data from 12 modules, and performs calculations of dust concentration and distance, generates a 3D dust field, and provides anomaly warnings. Based on the Mie scattering principle, it calculates the average concentration for the corresponding distance range based on the electrical signal intensity output by the receiver and the calibration curve. Based on the Time-of-Flight (TOF) principle, it calculates the distance corresponding to the dust concentration. It converts the distance into 3D coordinates using the horizontal and vertical angles of the laser module. When the detected lunar dust concentration exceeds a specified threshold, it sends a warning to the lunar rover's main control system, reminding it to slow down or change direction.

[0047] Visualization Module: This module includes a display screen and visualization software, showing a 3D heatmap of lunar dust concentration; darker colors indicate higher concentrations. The software allows control of each module's operation. Concentration thresholds can be set, triggering audible and visual warnings when thresholds are exceeded. Historical data is stored to support analysis in subsequent tasks.

[0048] Twelve laser emitters serve as the system's signal excitation sources, each corresponding to a detector and forming an integrated module. Following the principles of "full-link dust field coverage + three-dimensional directional locking + anti-interference isolation," they are divided into four groups: wheel group (4 groups), chassis group (2 groups), front group (2 groups), body group (2 groups), and rear group (2 groups). The wheel group laser emitters consist of four sets, corresponding to the left front wheel, right front wheel, left rear wheel, and right rear wheel. The wheels are the primary source of dust. When the lunar rover moves, the wheels crush the lunar surface soil, generating an initial dust cloud through compression and shearing. This area has the highest concentration and is the core area that the system prioritizes for monitoring. The chassis group laser emitters consist of two sets, corresponding to the left and right front ends of the chassis. Below the chassis is the "dust accumulation zone." Lunar dust clouds are blocked by the chassis and tend to accumulate below the chassis (especially near the drive shaft), resulting in large concentration fluctuations that may clog mechanical structures. The chassis laser emitter, located in front of the wheels, monitors the diffusion of dust clouds kicked up by the wheels downwards from the chassis. The front laser emitter consists of two sets, one corresponding to the left side of the front and the other to the right. The area in front is the driving path; as the lunar rover moves, dust spreads forward, forming a dust field. The concentration in this area directly affects the astronauts' visibility and wheel drag. The body laser emitter also consists of two sets, one corresponding to the middle of the left side of the body and the other to the middle of the right side. The sides of the body are monitoring gaps, where lateral dust diffusion is easily missed. The rear laser emitter consists of two sets, one corresponding to the left side of the rear and the other to the right. It can detect dust fields behind the rover, preventing rear dust clouds from interfering with the rover's detection.

[0049] Regarding data parameters: 3D full-coverage detection: Through the layered layout of 12 modules with horizontal angles, vertical angles, and detection distances, it achieves full-link coverage of dust fields without blind spots. Horizontal direction: The wheel group (0° / 180°), the front group (0°), the body group (90° / 270°), and the rear group (180°) work together without angular gaps; Vertical direction: The chassis group (-90°), the wheel group (-45° / -135°), the rear group (0°), the front group (±10°), and the body group (0°) cover the entire area without high or low altitude blind spots; Distance range: Continuous coverage from 0.3m (close distance to the chassis) to 10m (far distance to the rear), solving the limitation of traditional systems that "only measure a single point" and capturing high-concentration dust clouds in core areas such as the wheel source (0.5~3m) and chassis accumulation (0.3~2m).

[0050] High reliability with no moving parts: Employing 12 fixed integrated modules with no moving parts significantly improves reliability. Environmental adaptability is greatly enhanced (compared to moving parts), enabling it to adapt to the harsh lunar environment. Long service life meets the continuous exploration requirements of a single lunar rover mission.

[0051] Precise TOF correlation of scattered light: A precise correspondence between scattered light and distance is achieved through narrow-pulse laser, pinhole aperture, and wavelength isolation, resulting in high distance resolution. Concentration calibration tailored to lunar dust characteristics reduces measurement errors. A precise time window ensures a one-to-one correspondence between time, distance, and concentration, eliminating the mixing of concentration signals from multiple distances.

[0052] During implementation, the lunar rover will conduct extensive lunar surface exploration, requiring real-time monitoring of dust sources from its wheels, the dust cloud spreading ahead, and dust accumulation on its chassis. This is crucial to prevent dust from obstructing the astronauts' vision and the mechanical structure, while simultaneously recording the spatial distribution data of the dust field for scientific analysis. After the rover is activated, the astronauts periodically activate 12 laser modules via a control panel, triggering them in a sequential manner: wheel group → chassis group → front group → body group → rear group, continuously monitoring the dust field around the rover. When excessive dust concentration is detected, a warning signal is sent to the controller, and the rover is decelerated or steered to avoid entering high-concentration dust fields. When higher precision detection of dust concentration in a specific direction is required, the rear laser module (not the primary detection direction) can be deactivated, and other modules (such as the forward detection module) can be activated to shorten the time window, increase the data update frequency, and achieve high-precision detection. When some modules (such as the forward module) malfunction, the horizontal and vertical angles of other modules can be adjusted to supplement the detection of the faulty location, ensuring mission continuity.

[0053] The lunar rover dust field three-dimensional detection system proposed in this embodiment integrates the principles of light scattering and Time-of-Flight (TOF) to achieve precise detection of lunar dust concentration and distance. By strategically arranging the detectors around the rover, a three-dimensional dust field can be generated and the generation, diffusion, and accumulation processes of lunar dust can be detected, demonstrating significant application potential. This technology not only provides an effective detection solution for lunar rover dust fields but can also be extended to dust detection for other devices (such as rocket landings and lunar robots).

[0054] The above description of several specific embodiments further details the technical solution provided by the present invention in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the above-described specific embodiments are not intended to limit the present invention. Any reasonable modifications and improvements to the present invention, combinations of embodiments, and equivalent substitutions based on the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A three-dimensional detection system for lunar rover dust fields based on light scattering-TOF fusion, characterized in that, include: The laser-detector module is an integrated package, including a detector with a pinhole aperture and a narrowband filter in front of it for receiving only scattered light from a fixed direction and filtering out background light, and a laser emitter for emitting narrow pulse laser. Multiple laser-detector modules are fixedly installed on the structural surface of the lunar rover. The multiple laser-detector modules are arranged according to the dust generation and diffusion path of the lunar rover to form a three-dimensional monitoring layout around the lunar rover. The laser-detector modules include twelve groups, which are respectively set in the wheel group, chassis group, front group, body group and rear group. The wheel group is equipped with four groups of laser-detector modules, and the chassis group, front group, body group and rear group are each equipped with two groups of laser-detector modules. A circuit control module is fixedly installed on the structural surface of the lunar rover. It is used to provide control signals to the laser-detector module and to control the sequential activation of each laser-detector module through time-division triggering logic. It also synchronously controls the laser emitter to emit narrow pulse laser and the detector to receive scattered light signals. The data processing module is fixedly installed on the surface of the lunar rover. It is used to receive the scattered light intensity signal and scattered light reception time information output by the detector, calculate the distance of the scattering point based on the difference between the laser emission time and the scattered light reception time, and convert the distance of the scattering point into three-dimensional coordinates in combination with the installation angle of the laser-detector module. The data processing module is also used to calculate the dust concentration at the corresponding distance based on the Mie scattering principle, according to the scattered light intensity signal and in combination with the preset lunar dust scattering characteristic calibration curve, and to generate a three-dimensional dust concentration point cloud map by fusing the scattering point distance and dust concentration information. The visualization module is used to output the three-dimensional dust concentration heat map corresponding to the three-dimensional dust concentration point cloud map, and to implement over-threshold alarm and task data recording functions.

2. The three-dimensional detection system for lunar rover dust fields based on light scattering-TOF fusion as described in claim 1, characterized in that, The data processing module is based on the Time-of-Flight (TOF) principle and calculates the distance corresponding to the dust concentration by the time it takes to receive the scattered light.

3. The three-dimensional detection system for lunar rover dust fields based on light scattering-TOF fusion as described in claim 1, characterized in that, The laser emitter emits narrow pulse lasers, the pulse width of which is much smaller than the time difference between the scattered light from different distances reaching the detector.

4. The three-dimensional detection system for lunar rover dust fields based on light scattering-TOF fusion as described in claim 1, characterized in that, A pinhole aperture and a narrowband filter are installed in front of the detector to receive only scattered laser light from a single direction and filter out the background sunlight on the lunar surface.

5. A three-dimensional detection system for lunar rover dust fields based on light scattering-TOF fusion as described in claim 1, characterized in that, The data processing module is based on the Mie scattering principle. It uses the scattered light intensity signal output by the detector and a preset calibration curve to invert the average dust concentration for the corresponding distance range.

6. A three-dimensional detection method for lunar rover dust fields, characterized in that, The method is implemented based on the system described in claim 1, and includes: The steps for time-sharing activation of each laser-detector module; The steps for controlling the laser emission time and recording the scattered light reception time; The steps are: calculating the distance to the scattering point based on the time difference between transmission and reception, and calculating the dust concentration based on the intensity of the scattered light; The step of converting the distance of the scattering point into three-dimensional coordinates through coordinate transformation to generate a three-dimensional dust concentration distribution map; Determine whether the dust concentration exceeds a preset threshold; if it does, execute an early warning and output an alert.

7. A computer storage medium for storing computer programs, characterized in that, When the computer program is read by the computer, the computer executes the method of claim 6.

8. A computer, comprising a processor and a storage medium, characterized in that, When the processor reads the computer program stored in the storage medium, the computer executes the method of claim 6.

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