The invention discloses a visual positioning method for a high-precision cabin docking system, and the method comprises the following steps: carrying out fixed-point photographing and continuous scanning through a 3D camera, and building a fixed cabin digital model; according to the model data, the axis direction of the docking cabin end is calculated, and the pre-docking position and posture of the robot are calculated; when the robot arms are in butt joint, a six-dimensional force sensor is used for monitoring pressure and torsion to obtain pressure in six directions of x, y, z, rx, ry and rz, and data are transmitted to a computer to form a force control system. The force control system calculates the next target point according to the gravity center data of the clamp, the coordinate offset parameters of the butt joint cabin section and the sensor and the force borne in all directions in the butt joint process by combining the mechanical formula virtual work principle, and meanwhile the two target points interact position data at the same speed to achieve closed loop and position guiding. And when the position difference value reaches a preset convergence domain and the assembly stroke is consistent, the docking is successful. According to the invention, the accuracy and safety in the docking process of spacecrafts or aircrafts can be improved.

    本发明公开一种用于高精度舱段对接系统的视觉定位方法,包括以下步骤:通过3D相机进行定点拍照以及连续扫描,建立固定舱段数模;根据模型数据,计算对接舱端轴线方向并计算机器人预对接位置与姿态;在机器臂对接时采用六维度力传感器进行压力与扭力监测出x、y、z、rx、ry、rz六个方向的压力大小,数据传输到计算机组成力控系统,力控系统根据夹具重心数据、对接舱段与传感器坐标偏移参数和对接过程各个方向受到的力结合力学公式虚功原理计算出下一个目标点,同时两者以相同速度交互位置数据实现闭环和位置引导,当位置差值达到预设的收敛域且装配行程符合时则代表对接成功。本发明可提高航天器或航空器对接过程中的精确度和安全性。


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    Title :

    Visual positioning method for high-precision cabin docking system


    Additional title:

    一种用于高精度舱段对接系统的视觉定位方法


    Contributors:
    LUO DONGWEI (author) / LI LANYUN (author) / HUANG HUADONG (author) / XIONG FANG (author) / HUANG YUHAO (author) / ZHANG WEILIANG (author) / CHEN SHUJI (author)

    Publication date :

    2024-04-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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