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Target satellite rocket docking ring capture point positioning method based on double-mechanical-arm capture

A dual robotic arm and docking ring technology, which is applied to measuring devices, instruments, and optical devices, can solve problems that depend on image feature point matching capabilities, and achieve stable and easy to implement measurement processes, improve positioning accuracy, and image calculation requirements. low effect

Active Publication Date: 2020-09-01
BEIJING INST OF CONTROL ENG
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The technical problem solved by the present invention is: in view of the current existing technology, the traditional method identifies multiple feature points of the target satellite through the image feature point matching method, which leads to the problem of relying too much on the image feature point matching ability, and proposes a method based on dual Method for locating the capture point of the target satellite captured by the robotic arm with the star-arrow docking ring

Method used

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  • Target satellite rocket docking ring capture point positioning method based on double-mechanical-arm capture
  • Target satellite rocket docking ring capture point positioning method based on double-mechanical-arm capture
  • Target satellite rocket docking ring capture point positioning method based on double-mechanical-arm capture

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Embodiment

[0077] Take the capture of the target satellite by a satellite with two arms as an example, assuming that in the coordinate system of the target satellite body, the coordinates of the origin of the coordinate system of the control satellite body are (0,-0.25,-1), and the coordinates of the capture point of the robotic arm 1 are ( -0.3535,-0.3535,0), the capture point coordinates of robotic arm 2 are (0,-0.5,0), and the coordinate axis of the control satellite system is parallel to the coordinate axis of the target satellite system, such as figure 1 Shown, the concrete steps of the present invention are as follows:

[0078] (1) For the manipulative satellites that have completed the dual-arm capture of the target satellite's star-rocket docking ring, establish a satellite motion reference coordinate system, and record the positions of the two capture points;

[0079] In the coordinate system of the manipulator satellite body, the coordinates of the capture point of the robot ar...

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Abstract

The invention discloses a target satellite rocket docking ring capture point positioning method based on double-mechanical-arm capture. The method comprises the steps: controlling double mechanical arms of a target satellite to stably capture the captured target satellite; acquiring three capture points of a satellite-rocket docking ring of a capture target satellite by replacing a capture position of a mechanical arm so as to calculate the plane and the circle center of the satellite-rocket docking ring; extracting frame information through image edge detection to obtain a projection line ofa capture target satellite in a satellite-rocket docking ring plane, acquiring position coordinates of capture points in a coordinate system after the coordinate system of the target satellite is established, and completing capture point positioning.

Description

technical field [0001] The invention relates to a capture point positioning method for a target satellite star-arrow docking ring based on double-manipulator capture, and belongs to the technical field. Background technique [0002] When a space manipulation satellite performs a contact space manipulation task on a target satellite, it must first complete the connection with the target satellite. For the serviced satellites that have been designed for service, there are generally dedicated docking or capture interfaces; for non-cooperative target satellites in orbit, manipulating the satellite manipulator usually requires capturing the target satellite's star-rocket docking ring. [0003] After the control satellite completes the capture of the target satellite's star-rocket docking ring, it is necessary to locate the capture point in the coordinate system of the target satellite, so as to use this as the base point for further work. Usually, the target satellite can be ima...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00B64G4/00
CPCG01B11/002B64G4/00B64G2004/005
Inventor 宁宇曾海波邓雅邹奎肖帅黎飞张德明
Owner BEIJING INST OF CONTROL ENG
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