Large-size circular ring target structured light measurement method for automatic capture of manipulator

Abstract

The invention relates to a large-size circular ring target structured light measurement method for automatic capture of a manipulator. A hand-eye vision sensor is installed at the tail end of a manipulator, laser is projected onto the front surface of a circular ring target respectively , a circular ring target image with a laser strip is collected by using a camera, and a candidate target laser strip combination is identified in the circular ring target image; point-line combined target image features are selected and extracted on the candidate target laser strip according to the relative pose solving requirement; and for each group of candidate laser light bar combinations, the relative position and attitude between a manipulator tool coordinate system and a target coordinate system areobtained by adopting a pose solving method based on intermediate transformation according to the target image features. According to the invention, pose measurement of a large-size circular ring target is realized by adopting bilateral multi-line structured light, the method has the characteristics of high reliability, strong adaptability to an illumination environment and high measurement speed;and when a baseline is long enough, very high measurement precision can be achieved.

Description

technical field [0001] The invention belongs to the field of computer vision. Two groups of specially designed structured light measurement sensors can be used to realize the online measurement of the relative position and attitude between the manipulator tool coordinate system and the circular target coordinate system during the capture process of the large-size circular target by the manipulator. [0002] technical background [0003] With the continuous development of space technology, the number of satellites launched into space continues to increase, and a large number of invalid satellites have become space junk. The demand for on-orbit maintenance of these satellites or making them go out of orbit and enter the graveyard orbit is becoming more and more urgent. It has become a general trend for manipulators to repair and de-orbit satellites that fail. The automatic capture of invalid satellites by the space manipulator is a prerequisite for on-orbit maintenance and off-...

AI Technical Summary

Problems solved by technology

[0007] In order to solve the problems of conditional adaptability, calculation speed and reliability of visual pose measurement under complex lighting conditions, and improve the measurement accuracy on the basis of ensuring reliability, this invention is oriented to the needs of the space manipulator for automatic capture of large-scale circular targets. A two-sided multi-line structured light measurement scheme is proposed, which makes full use of the characteristics of structured light to overcome the influence of complex lighting conditions on camera imaging, and improves the reliability of the measurement algorithm with the help of various constraints and verifications. Data Fusion Improves Measurement Accuracy

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