An automatic docking method of aircraft based on visual servoing and manipulator

Abstract

An aircraft automatic docking system based on visual servoing and a manipulator, characterized in that it includes a manipulator body, a manipulator control box, a visual measurement camera, and an image processing industrial computer, wherein the manipulator body is firmly connected to the joint of the aircraft support equipment , can change the pose of the joint by adjusting the state of its own joints; the visual measurement camera and the image processing industrial computer can capture the interface of the aircraft fuselage by shooting the image of the aircraft fuselage, and apply the visual servo method to calculate the target pose of the manipulator body, Send it to the control box of the robotic arm through Ethernet; the control box of the robotic arm controls the joint at the end of the robotic arm according to the docking process and the target pose command, and finally realizes automatic docking; the automatic docking system greatly improves the accuracy, efficiency and informatization of docking control The level can realize staff reduction and efficiency increase.

Description

technical field [0001] The invention relates to the field of aircraft support, in particular to an automatic docking system of a manipulator based on visual servoing. Background technique [0002] At present, support operations involving the docking of support equipment joints and aircraft fuselage interfaces (such as aircraft oil receiving ports) are all completed by manpower. Taking aircraft refueling as an example, maintenance personnel are required to complete information interaction, transfer of refueling joints, etc., while refueling The dragging of the hose and the docking of the refueling joint are completely dependent on manpower, the support efficiency is low, it takes up a lot of personnel, and the labor intensity is high, which is not conducive to the long-term continuous combat of refueling operators. At present, the technical solution based on the linkage between vision and robotic arm has been applied in industrial fields such as welding and sorting. However, ...

AI Technical Summary

Problems solved by technology

[0002] At present, support operations involving the docking of support equipment joints and aircraft fuselage interfaces (such as aircraft oil receiving ports) are all completed by manpower. Taking aircraft refueling as an example, maintenance personnel are required to complete information interaction, transfer of refueling joints, etc., while refueling The dragging of the hose and the docking of the refueling joint are completely dependent on manpower, the support efficiency is low, it takes up a lot of personnel, and the labor intensity is high, which is not conducive to the long-term continuous operation of refueling operators

At present, the technical solution based on the linkage between vision and robotic arm has been applied in industrial fields such as welding and sorting. However, due to the characteristics of small load, low precision and high repetition in many applications, it cannot meet the requirements of heavy load and high precision in the process of aircraft docking. There is no automatic docking system for aircraft support in China

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