Structured light measurement method for large-size circular target for automatic capture by manipulator

Abstract

The invention relates to a large-size ring target structured light measurement method for automatic capture by a manipulator. By setting a hand-eye vision sensor at the end of the manipulator, laser light is respectively projected onto the front surface of the ring target, and a camera is used to collect the ring with a laser bar. In the target image, the candidate target laser bar combination is identified in the circular target image; according to the needs of solving the relative pose, select and extract the target image features combined with points and lines on the candidate target laser bar; for each group of candidate laser light bar combinations According to the characteristics of the target image, the relative position and attitude between the manipulator tool coordinate system and the target coordinate system are obtained by using the pose solution method based on intermediate transformation. The invention uses double-sided multi-line structured light to realize the pose measurement of a large-size circular target, and has the characteristics of high reliability, strong adaptability to the lighting environment, and fast measurement speed. When the baseline is long enough, it can achieve very high measurement precision.

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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