Automatic docking and system simulation of compartments based on distributed detection

XU Panping; ZHANG Liqiang; YANG Tong; WU Nan; LIU Gang

doi:10.12299/jsues.24-0237

Volume 40 Issue 2

Jun. 2026

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Article Navigation > Journal of Shanghai University of Engineering Science > 2026 > 40(2): 143-151

XU Panping, ZHANG Liqiang, YANG Tong, WU Nan, LIU Gang. Automatic docking and system simulation of compartments based on distributed detection[J]. Journal of Shanghai University of Engineering Science, 2026, 40(2): 143-151. doi: 10.12299/jsues.24-0237

Citation:

XU Panping, ZHANG Liqiang, YANG Tong, WU Nan, LIU Gang. Automatic docking and system simulation of compartments based on distributed detection[J]. Journal of Shanghai University of Engineering Science, 2026, 40(2): 143-151. doi: 10.12299/jsues.24-0237

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Automatic docking and system simulation of compartments based on distributed detection

doi: 10.12299/jsues.24-0237

XU Panping^1
,,
ZHANG Liqiang^{1
,
,},
YANG Tong¹,
WU Nan¹,
LIU Gang^{1, 2}

1.
School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
2.
Chengdu Zhiyuan Advanced Manufacturing Technology Institute, Chengdu 610511, China

Received Date: 2024-08-21
Available Online: 2026-08-19
Publish Date: 2026-06-30

Abstract

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.
- assembly docking,
- pose detection algorithm,
- pose solution,
- D-H method,
- simulation system

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References(14)

References

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