CN105081719A - Spacecraft cabin automatic assembly system based on visual measurement and assembly method thereof - Google Patents
Spacecraft cabin automatic assembly system based on visual measurement and assembly method thereof Download PDFInfo
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- CN105081719A CN105081719A CN201510466848.8A CN201510466848A CN105081719A CN 105081719 A CN105081719 A CN 105081719A CN 201510466848 A CN201510466848 A CN 201510466848A CN 105081719 A CN105081719 A CN 105081719A
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- 238000003032 molecular docking Methods 0.000 claims abstract description 34
- 238000003384 imaging method Methods 0.000 claims abstract description 10
- 239000002775 capsule Substances 0.000 claims description 75
- 230000009466 transformation Effects 0.000 claims description 4
- 238000000926 separation method Methods 0.000 abstract 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The invention discloses a spacecraft cabin automatic assembly system based on visual measurement and an assembly method thereof, belongs to the field of spacecraft assembly, and aims to solve the problem that the docking and separation stability and precision of traditional large spacecraft cabins cannot be guaranteed. The assembly system comprises a mobile target for marking positions and gestures of active and passive cabins, a fixed target for marking positions and gestures of the active cabin in the moving process, a visual measuring camera for imaging the mobile target and the fixed target, a controller for determining positions and gestures of the active and passive cabins according to images to obtain position deviations of the active and passive cabins, and a servo moving device for controlling single motion of the active cabin to eliminate the position deviations. In assembly, a visual measuring technology is adopted, a coordinate system of cabin docking end surfaces is built through the mobile target and the fixed target, and the outer surfaces of the cabins are transferred; and the assembly is finished by the closed-loop control of deviation feedback according to the visual measuring information and the docking target position. The assembly system is applied to the docking and the separation of large spacecraft cabins.
Description
Technical field
The invention belongs to spacecraft assembling field.
Background technology
The number of components of present generation aircraft, rocket and guided missile is various, the frivolous yielding feature of complex contour, structure makes it be assembled in order to a difficulty is large, design multi-field complex engineering.Assembly technology determines the final mass of aircraft, rocket and guided missile, manufacturing cost and production cycle to a great extent
At present, the docking of most of spacecraft large-scale cabin section and be separated into the lifting mode of plumbness, its Safety and Quality mainly relies on the individual level of skill of the engineering experience of technologist and operating personnel, and the stability of docking and precision all cannot be guaranteed.
Large scale space measurement mounting technology has played irreplaceable important function in the automated production process of aircraft, rocket and guided missile.Therefore carry out the research of large scale space measurement mounting technology, for the technical merit promoting spacecraft production, there is very great meaning and value.
Summary of the invention
The object of the invention is docking in order to solve existing spacecraft large-scale cabin section and the stability be separated and precision cannot guaranteed problem, the invention provides spacecraft module section automatic setup system and assembly method thereof that a kind of view-based access control model measures.
The spacecraft module section automatic setup system that view-based access control model of the present invention is measured,
Described assembly system comprises moving target mark, fixing target, vision measurement camera, controller and servo motion device;
Described moving target mark, for indicating position and the attitude of active capsule section and passive cabin section,
Fixing target, for indicating the position of active capsule section in motion process and attitude;
Vision measurement camera, for moving target mark and fixing target imaging, obtains image;
Controller, for according to the image obtained, determines position and the attitude of active capsule section and passive cabin section, and then obtains the position deviation of active capsule section and passive cabin section;
Servo motion device, for the position deviation according to the active capsule section obtained and passive cabin section, controls the motion of active capsule section list, until eliminate position deviation.
Described fixing target is arranged on active capsule section unscreened position of vision measurement camera in docking operation, is transferred to out of my cabin by the interface of measuring basis from active capsule section.
Described moving target mark is provided with gauge point and contact, contact is accurately known by demarcating relative to the position of gauge point;
Described fixed target is put on and is provided with gauge point.
Step one, moving target mark are arranged on passive cabin section docking end face, vision measurement camera is utilized to obtain the image of passive cabin section docking end face, obtain the coordinate of gauge point on moving target mark relative to vision measurement camera, according to the coordinate obtained, set up passive cabin section coordinate system, and then obtain passive cabin section relative to the position of vision measurement camera and attitude;
Step 2, moving target mark are arranged on active capsule section docking end face, utilize vision measurement camera to obtain the image of active capsule section, obtain to gauge point on passive target relative to the coordinate of vision measurement camera, according to the coordinate obtained, set up active capsule section coordinate system;
Step 3, fixing target to be fixed in active capsule section, utilize vision measurement camera obtain initiatively on target gauge point relative to the coordinate of vision measurement camera, obtain fixed target target position and attitude, set up fixed target target coordinate system; The active capsule section coordinate system that integrating step two is set up, obtains the coordinate transformation relation that fixed target target coordinate is tied to active capsule section coordinate system;
Step 4, fixing target to be measured in real time, measurement result is obtained active capsule section relative to the position of vision measurement camera and attitude by the transformational relation that step 3 obtains, and compare relative to the position of vision measurement camera and attitude with the passive cabin section that obtains in step one, obtain the position deviation of active capsule section and passive cabin section;
Step 5: judge whether the position deviation obtained is less than rigging error, has if so, then assembled, if not, then controls the motion of servo motion device, reduces the position deviation of active capsule section and passive cabin section, proceed to step 4.
Described moving target mark is arranged on passive cabin section docking end face, and three gauge points that distribute on passive cabin section docking end face;
Described moving target mark is arranged on active capsule section docking end face, and three gauge points that distribute on active capsule section docking end face; On described active capsule section docking end face, distribution three gauge points are corresponding with docking three gauge points that end face distributes in passive cabin section.
Beneficial effect of the present invention is, the invention provides a kind of automated system being completed spacecraft module section Butt Assembling by vision measurement, closed-loop control.For the high-precision requirement of spacecraft module section Butt Assembling, the present invention adopts vision measurement technology in measuring, the coordinate system that cabin section docks end face is set up by moving target mark 2 with the target that cabin section is fixed, and turn cabin section outer surface, thus the situation that cabin fragment position attitude is measured cannot be completed after avoiding being blocked to boundary's end face in docking operation.According to the metrical information of vision and the target location of docking, adopt the closed-loop control of Error Feedback, realize the automated high-precision docking of real-time continuous, ensure that precision and stability.
Accompanying drawing explanation
The principle schematic of the spacecraft module section automatic setup system that Fig. 1 measures for the view-based access control model described in detailed description of the invention one, wherein the coordinate of vision measurement camera 5 is X
0y
0z
0
The principle schematic of the assembly method of the spacecraft module section automatic setup system that Fig. 2 measures for the view-based access control model described in detailed description of the invention two.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 illustrates present embodiment, the spacecraft module section automatic setup system that view-based access control model described in present embodiment is measured, described assembly system comprises moving target mark 2, fixing target 4, vision measurement camera 5, controller 6 and servo motion device 7;
Described moving target mark 2, for indicating position and the attitude of active capsule section 2 and passive cabin section 1,
Fixing target 4, for indicating the position of active capsule section 2 in motion process and attitude;
Vision measurement camera 5, for moving target mark 2 and fixing target 4 imaging, obtains image;
Controller 6, for according to the image obtained, determines position and the attitude of active capsule section 2 and passive cabin section 1, and then obtains the position deviation of active capsule section 2 and passive cabin section 1;
Servo motion device 7, for according to the position deviation of the active capsule section 2 obtained with passive cabin section 1, controls the single motion of active capsule section 2, until eliminate position deviation.
Described fixing target 4 is arranged on active capsule section 2 unscreened position of vision measurement camera 5 in docking operation, is transferred to out of my cabin by the interface of measuring basis from active capsule section 2.Avoid causing cannot measure owing to blocking in docking operation, do not need human assistance measurement markers point successively simultaneously, realize vision measurement camera 5 and automatically measure position and the attitude that fixing target 4 obtains active capsule section 2, simplify the operation and raise the efficiency.
Described vision measurement camera 5 is relative with ground fixing, comprise camera and camera lens, by to described target imaging, after giving described controller 6 by image transmitting, extracted the coordinate of gauge point in picture plane on target by algorithm, resolve target further relative to the position of vision measurement camera 5 and attitude;
Described moving target mark 2 is installed a series of gauge point and a contact, contact is accurately known by demarcating relative to the position of gauge point, by the imaging of described vision measurement camera 5 pairs of moving target marks 2, to resolve through described processor as the position of plane at described vision measurement camera 5 according to gauge point on moving target mark 2 and obtain moving target mark 2 relative to the position of described camera and attitude, obtain the position of gauge point relative to described vision measurement camera 5 according to contact relative to the position relationship of gauge point further;
Described fixing target 4 is fixed with active capsule section 2, a series of gauge point is installed above, by described vision measurement camera 5 to the imaging of fixing target 4, and extract the position of gauge point relative to picture plane further by described controller 6, and then resolve position and the attitude of described active capsule section 2;
It installs active capsule section 2 to described servo motion device 7, completes the servo control of active capsule section 2 position and attitude, can adopt parallel institution or serial mechanism, realize the position control of active capsule section 2 three translation freedoms and three rotational freedoms
Described controller 6 calculates position and the attitude of target according to the imaging of vision measurement camera 5 pairs of moving target marks 2 and fixing target 4, and according to control algolithm control servo motion device 7 realize active capsule section 2 to passive cabin section 1 near and docking;
Described passive cabin section 1 dock on end face distribute 3 gauge points, gauge point can and be not limited to pin-and-hole, pin, fabrication hole etc., gauge point is for setting up the body coordinate system of passive cabin section 1;
Described active capsule section 2 docks distribution corresponding with passive cabin section 13 gauge points on end face, gauge point can and be not limited to pin-and-hole, pin, fabrication hole etc., gauge point is for setting up the body coordinate system of active capsule section 2; Described active capsule section 2 outer surface provides installs fixing target 4 interface, installs described fixing target 4.
Detailed description of the invention two: composition graphs 2 illustrates present embodiment, present embodiment is the assembly method of the spacecraft module section automatic setup system that the view-based access control model described in detailed description of the invention one is measured,
Described method comprises the steps:
Step one, moving target mark 2 are arranged on passive cabin section 1 and dock on end face, utilize vision measurement camera 5 to obtain image that passive cabin section 1 docks end face, obtain gauge point on moving target mark 2 relative to the coordinate of vision measurement camera 5, according to the coordinate obtained, set up passive cabin section 1 coordinate system, and then obtain passive cabin section 1 relative to the position of vision measurement camera 5 and attitude;
Described moving target mark 2 is arranged on passive cabin section 1 and docks on end face, and docks distribution three gauge points on end face in passive cabin section 1;
Passive cabin section 1 is docked the gauge point number consecutively 1,2,3 on end face; Moving target mark 2 contact is placed on successively gauge point 1,2,3 place that passive cabin section 1 docks end face, by the imaging of vision measurement camera 5 pairs of moving target marks 2, is resolved by controller 6 and obtain the coordinate (x of gauge point 1,2,3 relative to vision measurement camera 5
1, y
1, z
1), (x
2, y
2, z
2) and (x
3, y
3, z
3); With the geometric center (x of three gauge points
0, y
0, z
0) be initial point, with the normal of three gauge point place planes for x-axis, with the line of initial point and gauge point 1 for y-axis, by right-hand rule determination z-axis, thus set up passive cabin section 1 coordinate system X
1y
1z
1, resolve further and obtain the attitude of passive cabin section 1 coordinate system relative to vision measurement camera 5.
Step 2, moving target mark 2 are arranged on active capsule section 2 and dock on end face, vision measurement camera 5 is utilized to obtain the image of active capsule section 2, obtain to gauge point on passive target relative to the coordinate of vision measurement camera 5, according to the coordinate obtained, set up active capsule section 2 coordinate system;
Described moving target mark 2 is arranged on active capsule section 2 and docks on end face, and docks distribution three gauge points on end face in active capsule section 2; It is corresponding with docking three gauge points that end face distributes in passive cabin section 1 that described active capsule section 2 docks three gauge points that end face distributes.Active capsule section 2 coordinate is X
2y
2z
2, the initial point of active capsule section 2 coordinate system and passive cabin section 1 coordinate system X
1y
1z
1corresponding;
Step 3, fixing target 4 to be fixed in active capsule section 2, utilize vision measurement camera 5 obtain initiatively on target gauge point relative to the coordinate of vision measurement camera 5, obtain position and the attitude of fixing target 4, set up the coordinate system of fixing target 4; Active capsule section 2 coordinate system that integrating step two is set up, the coordinate obtaining fixing target 4 is tied to the coordinate transformation relation of active capsule section 2 coordinate system;
Step 4, fixing target 4 to be measured in real time, measurement result is obtained active capsule section 2 relative to the position of vision measurement camera 5 and attitude by the transformational relation that step 3 obtains, and compare relative to the position of vision measurement camera 5 and attitude with the passive cabin section 1 that obtains in step one, obtain the position deviation of active capsule section 2 and passive cabin section 1;
Step 5: judge whether the position deviation obtained is less than rigging error, has if so, then assembled, if not, then controls servo motion device 7 and moves, reduce active capsule section 2 and the position deviation of passive cabin section 1, proceed to step 4.
In present embodiment, by vision measurement camera 5 when initial to the imaging of fixing target 4, Measurement Algorithm exports position and the attitude of fixing target 4, and according to the coordinate system of the active capsule section 2 utilizing moving target mark 2 to set up time initial, resolve and be fixed target 4 to the coordinate transformation relation initiatively moving cabin section, thus measuring basis transfers to fixing target 4 place, make not need in active capsule section 2 motion process afterwards to recycle the gauge point that moving target mark 2 measures active capsule section 2 interface.
Claims (5)
1. the spacecraft module section automatic setup system of view-based access control model measurement, it is characterized in that, described assembly system comprises moving target mark (2), fixing target (4), vision measurement camera (5), controller (6) and servo motion device (7);
Described moving target mark (2), for indicating position and the attitude in active capsule section (2) and passive cabin section (1),
Fixing target (4), for indicating the position of active capsule section (2) in motion process and attitude;
Vision measurement camera (5), for moving target mark (2) and fixing target (4) imaging, obtains image;
Controller (6), for according to the image obtained, determines position and the attitude in active capsule section (2) and passive cabin section (1), and then obtains the position deviation in active capsule section (2) and passive cabin section (1);
Servo motion device (7), for according to the position deviation of the active capsule section (2) obtained with passive cabin section (1), controls the single motion of active capsule section (2), until eliminate position deviation.
2. the spacecraft module section automatic setup system of view-based access control model measurement according to claim 1, is characterized in that,
Described fixing target (4) is arranged on active capsule section (2) vision measurement camera (5) unscreened position in docking operation, is transferred to out of my cabin by the interface of measuring basis from active capsule section (2).
3. the spacecraft module section automatic setup system of view-based access control model measurement according to claim 1 and 2, is characterized in that,
(2) are provided with gauge point and contact to described moving target mark, and contact is accurately known by demarcating relative to the position of gauge point;
Described fixing target (4) is provided with gauge point.
4. the assembly method of the spacecraft module section automatic setup system of view-based access control model measurement according to claim 3, it is characterized in that, described method comprises the steps:
Step one, moving target mark (2) are arranged on passive cabin section (1) docking end face, vision measurement camera (5) is utilized to obtain the image of passive cabin section (1) docking end face, obtain the coordinate of the upper gauge point of moving target mark (2) relative to vision measurement camera (5), according to the coordinate obtained, set up passive cabin section (1) coordinate system, and then obtain passive cabin section (1) relative to the position of vision measurement camera (5) and attitude;
Step 2, moving target mark (2) are arranged on active capsule section (2) docking end face, vision measurement camera (5) is utilized to obtain the image of active capsule section (2), obtain gauge point on passive target relative to the coordinate of vision measurement camera (5), according to the coordinate obtained, set up active capsule section (2) coordinate system;
Step 3, target (4) will be fixed be fixed in active capsule section (2), vision measurement camera (5) is utilized to obtain on initiatively target gauge point relative to the coordinate of vision measurement camera (5), obtain position and the attitude of fixing target (4), set up the coordinate system of fixing target (4); Active capsule section (2) coordinate system that integrating step two is set up, the coordinate obtaining fixing target (4) is tied to the coordinate transformation relation of active capsule section (2) coordinate system;
Step 4, fixing target (4) to be measured in real time, measurement result is obtained active capsule section (2) relative to the position of vision measurement camera (5) and attitude by the transformational relation that step 3 obtains, and compare relative to the position of vision measurement camera (5) and attitude with passive cabin section (1) that obtains in step one, obtain the position deviation in active capsule section (2) and passive cabin section (1);
Step 5: judge whether the position deviation obtained is less than rigging error, has if so, then assembled, if not, then control servo motion device (7) motion, reduce active capsule section (2) and the position deviation in passive cabin section (1), proceed to step 4.
5. the assembly method of the spacecraft module section automatic setup system of view-based access control model measurement according to claim 4, is characterized in that,
Described moving target mark (2) is arranged on passive cabin section (1) docking end face, and three gauge points that distribute on passive cabin section (1) docking end face;
Described moving target mark (2) is arranged on active capsule section (2) docking end face, and three gauge points that distribute on active capsule section (2) docking end face; On described active capsule section (2) docking end face, distribution three gauge points are corresponding with docking three gauge points that end face distributes in passive cabin section (1).
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| CN105629944A (en) * | 2016-03-16 | 2016-06-01 | 西安电子科技大学 | Cylindrical cabin section flexible docking device control system and method |
| CN106524946A (en) * | 2016-10-27 | 2017-03-22 | 西南科技大学 | Marine riser automatic connection detection device |
| CN106862908A (en) * | 2017-04-01 | 2017-06-20 | 哈尔滨工业大学 | A kind of full-automatic assembling docking calculation based on air flotation technology |
| CN108917723A (en) * | 2018-05-14 | 2018-11-30 | 西北工业大学 | A kind of pose on-line measurement system and method for the docking of cylindrical bay section |
| CN111046549A (en) * | 2019-12-09 | 2020-04-21 | 上海航天精密机械研究所 | Self-adaptive adjustment method and system based on digital twin body |
| CN111745369A (en) * | 2020-07-07 | 2020-10-09 | 上海交通大学 | Large cabin segment butt joint method for real-time monitoring |
| CN112008390A (en) * | 2019-05-31 | 2020-12-01 | 北京航天新风机械设备有限责任公司 | Self-correcting assembly butt joint system for attitude of air-float ball bearing |
| CN112683249A (en) * | 2021-02-18 | 2021-04-20 | 北京卫星环境工程研究所 | Spacecraft in-cabin equipment assembly pose guiding method |
| CN112775635A (en) * | 2020-11-29 | 2021-05-11 | 江苏金陵智造研究院有限公司 | Automatic docking assembly workstation for aerospace electromechanical products and operation method thereof |
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| CN108917723A (en) * | 2018-05-14 | 2018-11-30 | 西北工业大学 | A kind of pose on-line measurement system and method for the docking of cylindrical bay section |
| CN112008390A (en) * | 2019-05-31 | 2020-12-01 | 北京航天新风机械设备有限责任公司 | Self-correcting assembly butt joint system for attitude of air-float ball bearing |
| CN111046549A (en) * | 2019-12-09 | 2020-04-21 | 上海航天精密机械研究所 | Self-adaptive adjustment method and system based on digital twin body |
| CN111745369A (en) * | 2020-07-07 | 2020-10-09 | 上海交通大学 | Large cabin segment butt joint method for real-time monitoring |
| CN112775635A (en) * | 2020-11-29 | 2021-05-11 | 江苏金陵智造研究院有限公司 | Automatic docking assembly workstation for aerospace electromechanical products and operation method thereof |
| CN112683249A (en) * | 2021-02-18 | 2021-04-20 | 北京卫星环境工程研究所 | Spacecraft in-cabin equipment assembly pose guiding method |
| CN112683249B (en) * | 2021-02-18 | 2022-04-22 | 北京卫星环境工程研究所 | Spacecraft in-cabin equipment assembly pose guiding method |
| CN116140987A (en) * | 2023-04-17 | 2023-05-23 | 广东施泰德测控与自动化设备有限公司 | Visual quick docking device and docking method for axle test board |
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