Obstacle detection method for space tether robot in capturing area

Abstract

The invention discloses an obstacle detection method for a space tether robot in a capturing area. The obstacle detection method comprises the following steps: the module value and direction of an image gradient are firstly worked out in the capturing area; an obtained communication pixel area is used as a straight line segment candidate area according to a gradient module value pseudo sequencing result; a bounding rectangle is used for describing the candidate area, and the long axis which meet criteria is the required straight line segment outline of an obstacle; finally the three-dimensional coordinate of the outline and the closest distance are obtained according to points of the outline. According to the invention, the detecting part of the straight line segment adopts a straight line segment detecting method based on image gradient information; the straight line segment can be detected rapidly and accurately in various complex scenes; obstacles surrounding capturing points are detected by adopting the obstacle detection method, the detected points at the edges of the straight line segment are conducted with three-dimensional reconstruction, the three-dimensional distance from the capturing points is calculated, points at nearest distance are found, and the three-dimensional coordinate of the straight line segment and the nearest distance are obtained.

Description

technical field [0001] The invention belongs to the technical field of image processing and computer vision, and in particular relates to an obstacle detection method in a capture area of ​​a space tether robot. Background technique [0002] The space tethered robot system consists of "space tethered robot + space tether + space platform", which has the characteristics of safety, flexibility, and long operating distance. In recent years, with the continuous development of space technology, space tethered robots have been widely used in on-orbit services including on-orbit maintenance, on-orbit refueling, auxiliary orbit change, on-orbit space station auxiliary assembly, orbital garbage cleaning, and target capture. It has become one of the research hotspots in the field of space manipulation technology. [0003] In the process of capturing the target by the space tethered robot, it is necessary to detect obstacles near the capture point first, obtain the shortest distance f...

AI Technical Summary

Problems solved by technology

Although the present invention has the advantages of good noise resistance, robustness to incomplete edges, and insensitivity to partially covered areas, it has disadvantages such as large amount of calculation, large amount of storage, low efficiency of multi-peak detection and breakpoint detection. It severely limits its application range, and the Hough transform is more suitable for global straight line segment detection rather than local straight line segment detection

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