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

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 measur