Space rope system robot vision accurate approach method

A robot vision and space tethering technology, which is applied in the aerospace field, can solve the problems of no distance measurement and the limitation of relative distance measurement, and achieve the effect of accurately approaching the target and real-time precise positioning.

Active Publication Date: 2017-06-20
NORTHWESTERN POLYTECHNICAL UNIV
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AI Technical Summary

Problems solved by technology

But as we all know, the monocular vision sensor can accurately measure the relative angle between the target and the operating robot, but it has great limitations for relative distance measurement
Therefore, in the existing space tethered robot approach methods, the monocular camera generally only plays the role of target angle alignment, and does not perform distance measurement.

Method used

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  • Space rope system robot vision accurate approach method
  • Space rope system robot vision accurate approach method
  • Space rope system robot vision accurate approach method

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specific Embodiment

[0069] figure 1 It is the system diagram of the space tethered robot. The system consists of a satellite platform, a tether, and an operating robot. The target is located in front of the system. The satellite platform is a satellite with more functions, larger mass and volume. When the satellite platform approaches the target to a certain distance, it can launch the operating robot to approach and capture the target. During the flight, the operating robot measures the relative position between it and the target in real time through the monocular camera installed on it, and guides the operating robot to perform correct approach maneuvers.

[0070] Figure 5 It is the feedback structure diagram of the control system. Firstly, according to the angle information of the target relative to the manipulating robot, the relative position of the space manipulating robot and the target is estimated using the EKF method. Then the estimated value obtained by EKF is fed back to the mod...

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Abstract

The invention relates to a space rope system robot vision accurate approach method. A camera is used for building state estimation based on a kalman filter for angle information obtained by a target, a model prediction control algorithm is used for controlling the direction and the speed of an operation robot, the state estimation of the filter and path tracking union are optimized, and therefore the space operation robot approaches the target on one hand, and relative location estimation with guaranteed accuracy is obtained through single-eye measurement on the other hand. The space rope system robot vision accurate approach method has the beneficial effects that a space rope system robot single-eye accurate approach method based on model prediction control is used, under the condition that the single-eye camera is used, real-time accurate positioning of the space rope system robot on the target can be achieved, and accurate target approaching is achieved.

Description

technical field [0001] The invention belongs to the field of aerospace technology, and relates to a method for accurately approaching the vision of a space tethered robot, which is a method for accurately approaching a target based on the vision of a space tethered robot based on model predictive control. Background technique [0002] Space robots have their own unique advantages in assisting orbit changes, cleaning orbital garbage, and rescue of out-of-control satellites. The research object of the present invention is mainly aimed at space robots with tethers, and can also be slightly improved and applied to other types of space robots. The space tethered robot consists of three parts: "platform satellite + space tether + operating robot", such as figure 1 . The operating robot of the space tethered robot is a specific unit that approaches and captures the target. For the manipulating robot, the real-time measurement of its relative position with the target is the key t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/1633
Inventor 张夷斋黄攀峰宋科皓孟中杰刘正雄张帆
Owner NORTHWESTERN POLYTECHNICAL UNIV
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