Soft landing relay obstacle avoiding method

Abstract

The invention discloses a soft landing relay obstacle avoiding method which is used for completing soft landing of a celestial body through two matched stages, namely a rough obstacle avoiding stage and a fine obstacle avoiding stage, wherein in the rough obstacle avoiding stage, a visible-light camera is used for carrying out rough detection on a larger range and larger obstacles to remove largeobstacles which directly threaten landing safety; and then the surface of the celestial body is subjected to accurate three-dimensional obstacle detection by utilizing laser scanning in a safe area selected in the rough obstacle avoiding stage so as to obtain and remove obstacles with smaller dimensions and ensure landing safety to the maximum extent. The soft landing relay obstacle avoiding method disclosed by the invention has good autonomy and high reliability, can be used for soft landing detection of the celestial body with more complicated terrain, and is especially applicable to soft landing of deep-space unmanned celestial bodies in a longer distance; the soft landing relay obstacle avoiding method greatly improves the obstacle avoiding capacity and lengthens the obstacle avoidingdistance, and improves the landing safety; and the soft landing relay obstacle avoiding method reduces the technical index requirement on sensors, reduces the difficulty in research of visible-light / laser imaging sensors, and is beneficial to engineering application.

Description

technical field [0001] The invention relates to an obstacle avoidance method for landing on the surface of a celestial body, in particular to a soft landing relay obstacle avoidance method, which can be used for soft landing detection on the moon or other celestial bodies. Background technique [0002] The soft landing detection of the moon or other celestial bodies began in the 1960s, and the most representative ones are the "Apollo" lunar exploration program of the United States and the "Moon" program of the Soviet Union. The topography and landforms on the surface of celestial bodies are usually complex and unknown. Even the moon, which is the closest to the earth, currently has no high-resolution (0.2m or higher) 3D images for reference. Therefore, most of the unmanned soft landings at that time chose a relatively flat lunar sea area, and due to technical limitations, they did not use sensors to detect lunar surface obstacles and adopted the "blind landing" technology, w...

AI Technical Summary

Problems solved by technology

These tasks all use a sensor to image the surface of the celestial body. Although autonomous obstacle detection can be achieved, the reliability of its detection is greatly limited by the sensor.

For example, SELENE intends to use laser to perform precise imaging at a distance of about 50m from the lunar surface. Although it can accurately identify small obstacles, due to the limitation of imaging height and field of view, it can only select a safe landing area within a limited imaging range. The possibility of reaching a safe landing area and effectively avoiding obstacles is greatly reduced

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