CN108507543A - The pose measuring apparatus and Shared control method of spacecraft launching site acquisition procedure - Google Patents
The pose measuring apparatus and Shared control method of spacecraft launching site acquisition procedure Download PDFInfo
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- CN108507543A CN108507543A CN201810198229.9A CN201810198229A CN108507543A CN 108507543 A CN108507543 A CN 108507543A CN 201810198229 A CN201810198229 A CN 201810198229A CN 108507543 A CN108507543 A CN 108507543A
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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
- G01C11/04—Interpretation of pictures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
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- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
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Abstract
The pose measuring apparatus and Shared control method of spacecraft launching site acquisition procedure.Device：Including binocular camera, active illumination system and data processing and motion control computer, wherein binocular camera is installed on docking mechanism inner bottom surface, and the main light source and secondary light source of active illumination system are separately mounted to the inner cylinder face and docking mechanism inner bottom surface of butt joint ring.Method：This method is combined Binocular vision photogrammetry device with impedance adjustment, realize spacecraft launching site acquisition procedure weak collision even collisionless, the guide plate image of active and passive docking mechanism in acquisition procedure is acquired and identified using the device, pose of the guide plate based on camera coordinates system is calculated, active mating mechanism and the pose deviation of passive docking mechanism are obtained by vector calculus；According to pose deviation, Shared control is carried out to active mating mechanism using impedance adjustment, realizes submissive capture.The present invention is for existing docking mission and next-generation weak shock or floating type docking mission.
Description
Technical field
The invention belongs to Spacecraft Rendezvous docking technique field, more particularly to a kind of homologous with guide plate varus
The spacecraft launching site acquisition procedure pose measuring apparatus and control method of androgynous peripheral docking mechanism structure feature.
Background technology
Between the decades of space technology development, the mankind grasp and explore space and many using space resources substantially
Key technology, and spacecraft launching site technology is exactly undoubtedly one of them.To meet space technology development and corresponding task demand, such as
Manned moon landing, space station, in-orbit service, space rescue etc., spacecraft launching site technology experienced the development in multiple stages, and root
According to following mission requirements, still there are many new technologies and scheme to occur.China has been successively performed god between 2011 to 2017
Boat eight, divine boat nine, divine boat ten and tiangong-1, divine boat's ride on Bus No. 11, day boat No.1 and Heavenly Palace No. two numbers dock, and this
So that China becomes third and is completely independent the country for grasping spacecrafts rendezvous technology.
Measurement sensor currently used for spacecrafts rendezvous mainly has laser radar, microwave radar, gPS class navigation and vision to survey
Measure sensor etc..Laser radar, microwave radar are limited by precision, bandwidth and use scope.GPS, which is that one kind is advanced, to be led
Boat system can realize what global, round-the-clock, continuous and high precision star real time position and posture determined, but measure in relative pose
In, it needs mutually to communicate between star, the utilization in the determination of non-cooperative Spacecraft relative pose has certain limitation.Stereopsis
Measurement method is felt, by extracting some characteristic points on object construction, the vision measurement technology based on point, straight line and circular arc feature
Realize that relative pose determines, however the selection of target mechanism characteristics is difficult to determine.
The basic process of docking includes：Docking prepares, capture, buffers, correction is retracted, locks and detached.In practical docking
In the process, capture is two spacecraft guide plates from embedded other side is started to the process for establishing flexible capture, is the weight of docking operation
Point is also difficult point, and result directly affects the success or failure of docking.Used weak shock docking during spacecraft launching site at present
Mechanism, widely used Stewart structures in configuration, and six-dimension force sensor is installed on each drive rod or butt joint ring, lead to
The detection to contact force is crossed, Shared control is carried out using impedance control principle.Due to the severe ring in space in practical docking operation
The effect in border, the driving force of docking mechanism can not accurate compensation frictional force, damping parameter variation, to contact fluctuation occur
Larger situation causes active and passive spacecraft to flick, and can not complete to dock, or even spacecraft is made to damage.
Invention content
The present invention uses Stewart structures to solve existing spacecraft launching site capture, and in each drive rod or docking
Six-dimension force sensor is installed on ring, by the detection to contact force, carries out Shared control using impedance control principle, which is deposited
Docking mechanism driving force can not accurate compensation frictional force, damping parameter variation, cause contact fluctuation it is big, cause to dock
The problem of mission failure, provides a kind of pose measuring apparatus and Shared control method of spacecraft launching site acquisition procedure.
The present invention spacecraft launching site acquisition procedure pose measuring apparatus, composition include active mating mechanism and passively
Docking mechanism, the active mating mechanism and passive docking mechanism are the homologous perimetric pattern docking with guide plate varus
Mechanism；
The pose measuring apparatus further includes binocular camera, data processing and motion control computer and active illumination system
System；
Binocular camera be mounted on active mating mechanism in, in dock acquisition procedure to the guide plate of active mating mechanism with
The guide plate of passive docking mechanism carries out Image Acquisition；
Data processing is handled the collected guide plate image of binocular camera with motion control computer, obtains pose
Deviation, and by the pose deviation input impedance controller, active mating mechanism is controlled using impedance controller；
The active illumination system includes main light source and secondary light source, and the main light source is mounted on right in active mating mechanism
It connects on the inner wall of ring, the secondary light source, which is mounted in active mating mechanism, to be located at around binocular camera.
Preferably, two cameras of the binocular camera are symmetrically mounted in active mating mechanism initial position butt joint ring
Heart subpoint both sides.
The Shared control method of spacecraft launching site acquisition procedure is realized using above-mentioned pose measuring apparatus, method is to pass through
Following steps carry out；
Step 1：The guide plate and passive docking mechanism of active mating mechanism during catching are connect with binocular camera acquisition capture
Guide plate image；
Step 2：Data processing is handled the collected guide plate image of binocular camera with motion control computer：
First collected guide plate image is pre-processed, guide plate is gone out to pretreated image recognition according to plate features are oriented to；
Then pose of the identified guide plate based on camera coordinates system is calculated using binocular stereo vision principle；It is transported again by vector
Calculate the pose deviation obtained between active mating mechanism and passive docking mechanism；
Step 3：By in the impedance controller of step 2 calculated pose deviation input active mating mechanism, pass through resistance
Anti- controller carries out Shared control to active mating mechanism, realizes submissive capture.
Preferably, the butt joint ring center of active mating mechanism is determined in the step 2 according to the guide plate identified
Pose in camera coordinates system { C } isCX show that pose of the passive docking mechanism in camera mark system { C } isCX′；
Active mating mechanism and the pose deviation of passive docking mechanism are obtained by vector calculus；
Xr=CX′-CX。
Preferably, the step 1 is to acquire image under the illumination of active illumination system.
Above-mentioned technical characteristic may be combined in various suitable ways or be substituted by equivalent technical characteristic, as long as can reach
To the purpose of the present invention.
The present invention has the advantages that compared with prior art：
One, it is acquired using the pose measuring apparatus of the present invention and identifies the guiding of active and passive docking mechanism in acquisition procedure
Plate image calculates pose of the guide plate based on camera coordinates system, is obtained active mating mechanism by vector calculus and is passively docked
The pose deviation of mechanism；According to pose deviation, Shared control is carried out to active mating mechanism using impedance adjustment, is realized soft
Along capture.
Two, the present invention is for the Docking mechanism of androgynous and peripheral type with guide plate varus, by double in acquisition procedure
Mesh camera carries out whole, three-dimensional pose survey in real time to the guide plate of active mating mechanism and the guide plate of passive docking mechanism
Amount, and then the pose deviation between docking mechanism is obtained, it is controlled using the impedance controller of active mating mechanism based on deviation information
Active mating mechanism kinematic.
Three, the present invention not only breaches the limitation at traditional measurement visual angle, but also without obtaining visual measuring equipment in advance
And the accurate mount message of docking mechanism and spacecraft, show that the high precision position and posture of docking mechanism is inclined by simple vector calculus
Difference is a kind of direct, high-precision, contactless measurement；The side combined with impedance control using Binocular vision photogrammetry device
Method controls active mating mechanism using impedance controller, is a kind of Active Compliance Control strategy, realizes that docking mechanism is caught
The weak shock of process is obtained even without shock, greatly reduces capture probability of failure, successfully to realize entire spacecrafts rendezvous task creation
Advantage can be widely applied to existing docking mission and next-generation weak shock or floating type docking mission.
Four, when binocular camera of the invention does not need strict guarantee installation and the installation accuracy of spacecraft, main quilt is being calculated
There are no accurate assembly relation between docking mechanism and spacecraft need to be obtained in advance when dynamic docking mechanism, simple vector calculus is used
It can be obtained active mating mechanism and the relative pose deviation of passive docking mechanism.
Five, the main light source of active illumination system of the invention is mounted in active mating mechanism, utilizes active mating mechanism
Active compliance moves, and realizes the active functions of illumination, can be in entire acquisition procedure actively to the guide plate of active mating mechanism
Active illumination comprehensively, whole is carried out with the guide plate of passive docking mechanism.
Six, Active Compliance Control control is carried out to active mating mechanism using visual information and impedance control theory, realized
Docking mechanism acquisition procedure is weak to be hit even without shock, capture probability of failure is greatly reduced, successfully to realize entire intersection pair
Business is taken over to create favorable conditions.
Description of the drawings
Fig. 1 is the principle schematic of the spacecraft launching site acquisition procedure pose measuring apparatus of present embodiment；
Fig. 2 is the sample picture that two cameras are shot under certain relative deviation；
Fig. 3 is the principle schematic that position type vision impedance control system is used in present embodiment.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of not making creative work it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The invention will be further described in the following with reference to the drawings and specific embodiments, but not as limiting to the invention.
Specific implementation mode one：Embodiment is described with reference to Fig. 1, and present embodiment includes active mating mechanism 3, passive
Docking mechanism 4, binocular camera 1, data processing and motion control computer 5 and active illumination system,
The active mating mechanism 3 is the Docking mechanism of androgynous and peripheral type with 6 varus of guide plate, for taking over
Data connections such as the submissive capture of journey pursuit spacecraft and passive space vehicle, rigid connection etc.；Such as：The Soviet Union/Russia develops
APAS-89 docking mechanisms, NASA design weak impacting type docking mechanism.The allosome that these mechanisms all have guide plate varus is same
The structure feature of structure androgynous peripheral docking mechanism, i.e. docking mechanism configuration are oriented to using Stewart structures and using guide plate.
The passive docking mechanism 4 is that have the Docking mechanism of androgynous and peripheral type of 6 varus of guide plate, but entire docking operation does not have
There is locomitivity；
Binocular camera 1 is mounted in 3 inner bottom surface of active mating mechanism, is about 1000mm with active mating ring distance, double
Mesh camera 1 in docking acquisition procedure to the guide plate 6 of the guide plate 6 of active mating mechanism 3 and passive docking mechanism 4 into
Row Image Acquisition；
Data processing is handled 1 collected guide plate of binocular camera, 6 image with motion control computer 5, is obtained
Pose deviation, and the pose deviation is input in impedance controller, active mating mechanism 3 is controlled using impedance controller
System, reaches submissive capture；
The active illumination system includes main light source 7 and secondary light source 2, and the main light source 7 is mounted on active mating mechanism 3
On the inner wall of middle butt joint ring, the secondary light source 2, which is mounted in active mating mechanism 3, to be located at around binocular camera 1；Active illumination
System is used for the illumination of acquisition procedure, to obtain more stable image information；
Active mating mechanism 3 is passively right to the submissive process and active illumination system Proactive traceback of passive docking mechanism 4
The process that connection mechanism 4 is illuminated；It therefore, can be under 2 collective effect of the main light source 7 of active illumination system and secondary light source
Ensure that the whole process active mating mechanism 3 of capture obtains good illumination to the guide plate 6 of passive docking mechanism 4, obtains excellent
The image information of matter.
Binocular camera 1 of the present embodiment in acquisition procedure can it is whole, in real time to active mating mechanism 3 and passive right
The guide plate 6 of connection mechanism 4 carries out pose measurement, and then obtains active mating mechanism 3 and the pose deviation of passive docking mechanism 4,
Active mating mechanism kinematic is controlled using the impedance controller of active mating mechanism 3 based on deviation information, realizes submissive capture.
Specific implementation mode two：Embodiment is described with reference to Fig. 1, and present embodiment is two cameras of binocular camera 1
3 initial position butt joint ring central projection point both sides of active mating mechanism are symmetrically mounted on, while the pixel of camera meets measurement essence
Degree requires, and active mating mechanism 3 and passive docking mechanism 4 are in the field of view of two cameras always in docking operation in addition
It is clear and unobstructed in range.If should be noted in the spacecrafts such as manned spacecraft or cargo ship, binocular camera 1
Installation site must not influence passing through for spacefarer and cargo, specific position can be unloaded or go to hatch door, for example, carrying
In people's spaceship, binocular camera 1 may be generally mounted at the hatch door of 3 bottom of active mating mechanism.It is opposite to be illustrated in figure 2 certain
The sample picture that left and right two camera is shot under deviation.Other compositions and connection relation are same as the specific embodiment one.
Specific implementation mode three：Illustrate that present embodiment, present embodiment include the following steps in conjunction with Fig. 1, Fig. 2 and Fig. 3；
Step 1：The guide plate 6 of active mating mechanism 3 and passive docking during catching are connect with the acquisition capture of binocular camera 1
6 image of guide plate of mechanism 4；
Step 2：Data processing and motion control computer 5 to 1 collected guide plate of binocular camera, 6 image at
Reason：First 6 image of collected guide plate is pre-processed, pretreated image recognition is gone out to lead according to 6 feature of guide plate
To plate 6；Then pose of the identified guide plate 6 based on camera coordinates system is calculated using binocular stereo vision principle；Lead to again
It crosses vector calculus and obtains pose deviation between active mating mechanism 3 and passive docking mechanism 4；
Step 3：By in the impedance controller of step 2 calculated pose deviation input active mating mechanism 3, pass through resistance
Anti- controller carries out Shared control to active mating mechanism 3, realizes submissive capture.
The vision impedance adjustment that present embodiment step 3 uses, concrete principle is as shown in figure 3, utilize impedance control
Device controls active mating mechanism 3, is a kind of Active Compliance Control strategy, realizes the weak shock of docking mechanism acquisition procedure very
To no shock, greatly reducing capture probability of failure can be extensive successfully to realize that entire spacecrafts rendezvous task creates favorable conditions
Applied to existing docking mission and next-generation weak shock or floating type docking mission.
Specific implementation mode four：Embodiment is described with reference to Fig. 1, and present embodiment is that basis has identified in step 2
Guide plate 6 determine that pose of the butt joint ring center of active mating mechanism 3 in camera coordinates system { C } isCX, it is passive right to obtain
Pose of the connection mechanism 4 in camera mark system { C } beCX′；
Active mating mechanism 3 and the pose deviation of passive docking mechanism 4 are obtained by vector calculus；
Xr=CX′-CX。
Present embodiment can realize that the acquisition procedure of docking is weak and hit even without shock, and it is general greatly to reduce capture failure
Rate, successfully to realize that entire spacecrafts rendezvous task provides advantage.
Other steps are the same as the specific implementation mode 3.
Specific implementation mode five：Embodiment is described with reference to Fig. 1, and present embodiment is that step 1 is in active illumination system
Image is acquired under the illumination of system.Other steps are the same as the specific implementation mode 3.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment
Many modifications, and can be designed that other arrangements, without departing from the spirit of the present invention as defined in the appended claims
And range.It should be understood that can be by combining different appurtenances different from mode described in original claim
Profit requires and feature described herein.It will also be appreciated that the feature in conjunction with described in separate embodiments can use
In other described embodiments.
Claims (5)
1. a kind of pose measuring apparatus of spacecraft launching site acquisition procedure, the pose measuring apparatus include active mating mechanism
(3) and passive docking mechanism (4), the active mating mechanism (3) and passive docking mechanism (4) are in guide plate (6)
The Docking mechanism of androgynous and peripheral type turned over；
It is characterized in that：The pose measuring apparatus further includes binocular camera (1), data processing and motion control computer (5)
With active illumination system,
Binocular camera (1) is mounted in active mating mechanism (3), is led to active mating mechanism (3) in docking acquisition procedure
Image Acquisition is carried out to the guide plate (6) of plate (6) and passive docking mechanism (4)；
Data processing is handled binocular camera (1) collected guide plate (6) image with motion control computer (5), is obtained
Pose deviation is obtained, and by the pose deviation input impedance controller, active mating mechanism (3) are carried out using impedance controller
Control；The active illumination system includes main light source (7) and secondary light source (2), and the main light source (7) is mounted on active mating machine
In structure (3) on the inner wall of butt joint ring, the secondary light source (2), which is mounted in active mating mechanism (3), is located at binocular camera (1) week
It encloses.
2. the pose measuring apparatus of spacecraft launching site acquisition procedure according to claim 1, which is characterized in that the binocular
Two cameras of camera (1) are symmetrically mounted on active mating mechanism (3) initial position butt joint ring central projection point both sides.
3. the pose measuring apparatus using spacecraft launching site acquisition procedure described in claim 1 realizes spacecraft launching site acquisition procedure
Shared control method, which is characterized in that the method through the following steps that carry out；
Step 1：With binocular camera (1) acquisition capture connect catch during active mating mechanism (3) guide plate (6) and passively it is right
Guide plate (6) image of connection mechanism (4)；
Step 2：Data processing carries out binocular camera (1) collected guide plate (6) image with motion control computer (5)
Processing：First collected guide plate (6) image is pre-processed, pretreated image is known according to guide plate (6) feature
Do not go out guide plate (6)；Then identified guide plate (6) is calculated based on camera coordinates system using binocular stereo vision principle
Pose；The pose deviation between active mating mechanism (3) and passive docking mechanism (4) is obtained by vector calculus again；
Step 3：By in the impedance controller of the calculated pose deviation input active mating mechanism (3) of step 2, pass through impedance
Controller carries out Shared control to active mating mechanism (3), realizes submissive capture.
4. the Shared control method of spacecraft launching site acquisition procedure according to claim 3, which is characterized in that the step
Determine the butt joint ring center of active mating mechanism (3) in camera coordinates system { C } according to the guide plate (6) identified in two
Pose isCX show that pose of the passive docking mechanism (4) in camera mark system { C } isCX′；
The pose deviation of active mating mechanism (3) and passive docking mechanism (4) is obtained by vector calculus；
Xr=CX′-CX。
5. the Shared control method of spacecraft launching site acquisition procedure according to claim 3, it is characterised in that：The step
First, acquiring image under the illumination of active illumination system.
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| CN108860665A (en) * | 2018-09-11 | 2018-11-23 | 上海宇航系统工程研究所 | It is a kind of to damp controllable docking mechanism transmission buffer system |
| CN109050992A (en) * | 2018-09-17 | 2018-12-21 | 哈尔滨工业大学 | A kind of stop formula multimode collaboration is flexible to bore rod-type docking mechanism and its working method |
| CN109573112A (en) * | 2018-12-10 | 2019-04-05 | 上海航天控制技术研究所 | A kind of spacecraft launching site mechanism active mating control method |
| CN111071493A (en) * | 2019-12-26 | 2020-04-28 | 上海宇航系统工程研究所 | Six-rod independent force flexible active control spacecraft docking system |
| CN112873103A (en) * | 2021-01-05 | 2021-06-01 | 航天科工空间工程发展有限公司 | Method and system for assembling satellite deck and satellite main body frame and adjusting device |
| CN113916254A (en) * | 2021-07-22 | 2022-01-11 | 北京控制工程研究所 | Docking type capture spacecraft autonomous rendezvous and docking test method |
| CN115092364A (en) * | 2022-06-19 | 2022-09-23 | 西北工业大学 | Dynamic docking and recycling device for underwater vehicle with self-correction posture |
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| CN112873103A (en) * | 2021-01-05 | 2021-06-01 | 航天科工空间工程发展有限公司 | Method and system for assembling satellite deck and satellite main body frame and adjusting device |
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| CN115092364A (en) * | 2022-06-19 | 2022-09-23 | 西北工业大学 | Dynamic docking and recycling device for underwater vehicle with self-correction posture |
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