Automatic docking and system simulation of compartments based on distributed detection
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摘要: 随着我国航天事业的迅猛发展，航天器舱段的高精度高效率装配对接技术是当下亟待突破的难题。针对舱段调姿对接的装配需求，提出一种基于分布式双目相机位姿检测的舱段位姿检测算法和对接策略。考虑工程实际中特征测量点遮挡情况，通过转接靶标和标记点阵并结合舱段六自由度位姿解算，实现舱段位姿实时在线检测。基于D-H法搭建舱段对接仿真模型，在Simscape-Simulink仿真环境下，设计包含机械系统和控制系统模块的对接仿真系统并进行六自由度联调试验。结果表明，该检测算法和对接策略在满足精度需求的同时提高了对接效率，在工程实际中具有一定的可行性。Abstract: With the rapid development of China's aerospace industry, high-precision and high-efficiency assembly docking technology for spacecraft compartments is an urgent problem to be solved. To meet the assembly requirements for compartment attitude docking, a compartment pose detection algorithm and docking strategy based on distributed binocular camera pose detection were proposed. Considering the occlusion of feature measurement points in practical engineering, real-time online detection of the compartment pose was achieved through transfer targets and marking grids, combined with the six-degrees-of-freedom pose calculation of the compartment. Additionally, a docking simulation model for the compartment was established using the D-H method. Within a Simscape-Simulink simulation environment, a docking simulation system comprising mechanical and control system modules was designed, and a six-degree-of-freedom joint debugging experiment was conducted. The results show that the detection algorithm and docking strategy improve docking efficiency while meeting precision requirements, demonstrating certain feasibility in practical engineering applications.
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Key words:
- assembly docking /
- pose detection algorithm /
- pose solution /
- D-H method /
- simulation system
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图 2 测量系统中各坐标系关系示意图
Figure 2. Schematic diagram of relationships among various coordinate systems in measurement system
图 6 标定装置与对接面位置示意图
Figure 6. Schematic diagram of pose calibration device and compartment docking interface position
图 12 舱段自动对接机械系统仿真模型转换过程
Figure 12. Conversion process of compartment automatic docking mechanical system simulation model
图 13 舱段自动对接机械系统仿真模型框图
Figure 13. Block diagram of compartment automatic docking mechanical system simulation model
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