Autonomous alignment and docking system and method for two space objects

Abstract

The present invention provides an autonomous alignment and docking system and method for two targets in space. The docking system includes a mounting frame, a processor, a target, a radar detection unit, and a visual measurement unit; the mounting frame is used to be fixed on a first target; the processor is arranged on the mounting frame for data storage and calculation; the target is used to be fixed on a second target; the radar detection unit is arranged on the processor and electrically connected to the processor, and is used to establish a radar coordinate system through the processor and obtain the calibrated coordinates of the target in the radar coordinate system; the visual measurement unit is arranged on the mounting frame and electrically connected to the processor, and is used to establish a visual coordinate system through the processor and obtain the calibrated coordinates of the target in the visual coordinate system. The autonomous alignment and docking system for two targets in space provided by the present invention can reduce the amount of calculation and improve timeliness by establishing a coordinate system conversion matrix, thereby improving the docking success rate of the two targets in space.

Description

Technical Field

[0001] The present invention belongs to the technical field of space docking, and in particular relates to an autonomous alignment and docking system and method for two space targets. Background Art

[0002] The docking of two targets in space has a wide range of applications. In harsh environments such as the deep sea and space where humans cannot penetrate, as well as assembly alignment operations between large space components, it is necessary to install devices that can align and measure each other between the alignment object and the target object. Currently, the commonly used docking measurement schemes mainly include radar detection guidance and visual measurement alignment. Among them, radar detection guidance is suitable for global search, with a large coverage area and a long effective detection distance, but poor accuracy. Although visual measurement alignment technology has high accuracy, its effective range is small.

[0003] Based on the above situation, positioning devices based on binocular cameras and lidars have begun to appear. Lidars are used for large-scale global positioning, and then binocular cameras are used for local precise positioning, thereby achieving a balance between positioning accuracy and effective operating range. However, these positioning devices all need to use lidars to scan the global space and complete overall modeling and positioning. The amount of data calculation in this process is very large, so the computing power and hardware requirements of the processor are extremely strict, and the data processing time is relatively long. During the docking process, the real-time position judgment of the docking is prone to delays, and the real-time performance is poor, which will have a great impact on the accuracy of the position judgment of the continuously moving docking object, thereby affecting the success rate of the autonomous alignment and docking of two targets in space. Summary of the invention

[0004] The embodiments of the present invention provide a system and method for autonomously aligning and docking two objects in space, aiming to reduce the amount of data calculation and data processing time, and improve the success rate of autonomously aligning and docking two objects in space.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: In a first aspect, a system for autonomously aligning and docking two space objects is provided, comprising:

[0006] A mounting frame, used for fixing on the first target object;

[0007] A processor, mounted on a mounting frame, for data storage and calculation;

[0008] A target, used to be fixed on a second target object;

[0009] A radar detection unit is provided on the processor and is electrically connected to the processor, and is used to establish a radar coordinate system through the processor and obtain a calibrated coordinate H1 of the target in the radar coordinate system;

[0010] A visual measurement unit is disposed on the mounting frame and is electrically connected to the processor, and is used to establish a visual coordinate system through the processor and obtain a calibration coordinate H2 of the target in the visual coordinate system;

[0011] The processor is used to obtain the conversion matrix H between the radar coordinate system and the visual coordinate system according to the calibration coordinates H1 and H2. T ;

[0012] When the target is outside the recognition range of the visual measurement unit, the radar detection unit is used to obtain the radar detection coordinates L1 of the target, and convert the radar detection coordinates L1 into visual measurement coordinates S1 through the processor, and the visual measurement coordinates S1 is used to guide the target into the recognition range of the visual measurement unit;

[0013] When the target is within the recognition range of the visual measurement unit, the visual measurement unit is used to directly obtain the visual measurement coordinates S2 of the target; the visual measurement coordinates S2 are used to guide the second target to complete docking with the first target.

[0014] In combination with the first aspect, in a possible implementation, when the target is within the recognition range of the visual measurement unit, the radar detection unit is used to obtain the radar detection coordinates L2, and the processor converts the radar detection coordinates L2 into the visual measurement coordinates S 20 , and the visual measurement coordinate S 20 Compare and verify with the visual measurement coordinate S2.

[0015] Exemplarily, the radar detection unit is a laser radar, and the visual measurement unit is a trinocular camera.

[0016] The beneficial effect of the autonomous alignment and docking system for two targets in space provided by the present invention is that: compared with the prior art, the autonomous alignment and docking system for two targets in space provided by the present invention adopts a combination of radar detection and visual measurement, and establishes a conversion matrix between the radar coordinate system and the visual coordinate system after calibrating the two, so that when the two targets in space approach each other at medium and long distances using the radar detection unit and the close-range precise docking using the visual measurement unit, both can use the more accurate visual measurement coordinates as the calculation and processing objects, without the need to perform global exploration through the radar detection unit to generate three-dimensional point cloud data or to construct a global map model, thereby greatly reducing the amount of calculation and calculation processing time of the processor, avoiding the delay error between the detected distance and the actual distance of the two targets during the docking process, thereby improving the success rate of autonomous alignment and docking.

[0017] In a second aspect, an embodiment of the present invention further provides a method for autonomously aligning and docking two space objects, comprising the following steps:

[0018] Step S100, fixing a radar detection unit, a visual measurement unit and a processor on a first target object, and setting a target within a range that can be recognized by both the radar detection unit and the visual measurement unit;

[0019] Step S200, by identifying the target, calibrating the radar detection unit and the visual measurement unit respectively, obtaining the coordinate conversion relationship between the radar coordinate system and the visual coordinate system, and using the visual coordinate system as the calculation processing coordinate system of the processor;

[0020] Step S300, fix the target at a known point of the second target, start moving the second target, and detect in real time through a radar detection unit and / or a visual measurement unit to obtain the real-time coordinates of the target in the calculation and processing coordinate system;

[0021] In step S400, the processor guides the second target object and the first target object to gradually approach each other according to the real-time coordinates acquired in sequence until they are aligned and docked.

[0022] In conjunction with the second aspect, in a possible implementation manner, step S200 includes:

[0023] Step S201, establishing a radar coordinate system and a visual coordinate system respectively through a processor;

[0024] Step S202, obtaining the calibration coordinates H1 of the target in the radar coordinate system through the radar detection unit;

[0025] Step S203, obtaining the calibration coordinates H2 of the target in the visual coordinate system through the visual measurement unit;

[0026] Step S204: The processor obtains the transformation matrix H between the radar coordinate system and the visual coordinate system according to the calibration coordinates H1 and H2. T , and determine the visual coordinate system as the calculation and processing coordinate system.

[0027] In some embodiments, step S300 includes:

[0028] Step S301, fix the target at a known point of the second target object, start moving the second target object, and when the target is out of the recognition range of the visual measurement unit, obtain the radar detection coordinates L1 of the target through the radar detection unit;

[0029] Step S302: The processor calculates the conversion matrix H T Convert the radar detection coordinate L1 into the visual measurement coordinate S1, so as to obtain the real-time coordinate of the target in the computing and processing coordinate system;

[0030] Step S303, when the second target moves into the recognition range of the visual measurement unit, the visual measurement coordinates S2 of the target are directly acquired through the visual measurement unit, thereby obtaining the real-time coordinates of the target in the calculation and processing coordinate system.

[0031] Specifically, step S303 includes:

[0032] Step S3031, when the second target moves into the recognition range of the visual measurement unit, directly obtaining the visual measurement coordinates S2 of the target through the visual measurement unit;

[0033] Step S3032, obtaining the radar detection coordinates L2 of the target through the radar detection unit;

[0034] Step S3033: the processor calculates the conversion matrix H T Convert the radar detection coordinate L2 into the visual measurement coordinate S 20 ;

[0035] Step S3034: the processor compares the visual measurement coordinate S2 with the visual measurement coordinate S 20 A comparison and verification is performed, and the visual measurement coordinate S2 is used as the real-time coordinate of the target in the calculation and processing coordinate system.

[0036] Furthermore, after step S3034, the method further includes:

[0037] Step S3035: if the visual measurement coordinate S2 is equal to the visual measurement coordinate S 20 If there are two consecutive deviations, the radar detection unit and the visual measurement unit shall be recalibrated.

[0038] In some embodiments, step S400 includes:

[0039] Step S401, calculating the distance between the second target object and the first target object according to the real-time coordinates obtained by each detection by a processor;

[0040] Step S402: If the distance D calculated for the n+1th time n+1 >The distance D calculated for the nth time n , then the second target object is returned to the position of the nth real-time coordinate to re-determine the forward direction; if the distance D calculated for the n+1th time n+1 ≤ the distance D calculated for the nth time n , then continue to approach the first target object at the position of the n+1th real-time coordinate until the second target object is aligned and docked with the first target object.

[0041] For example, the radar detection unit uses a laser radar, the visual measurement unit uses a three-eye camera, and the radar coordinate system and the visual coordinate system are both three-dimensional coordinate systems.

[0042] The beneficial effect of the autonomous alignment and docking method for two targets in space provided by the present invention is that: compared with the prior art, the autonomous alignment and docking method for two targets in space provided by the present invention adopts a combination of radar detection and visual measurement, and establishes a conversion matrix between the radar coordinate system and the visual coordinate system after calibrating the two, so that when the two targets in space approach each other at medium and long distances using the radar detection unit and the close-range precise docking using the visual measurement unit, both can use the more accurate visual measurement coordinates as the calculation and processing objects, without the need to perform global exploration through the radar detection unit to generate three-dimensional point cloud data or to construct a global map model, thereby greatly reducing the amount of calculation and calculation processing time of the processor, avoiding the delay error between the detected distance and the actual distance of the two targets during the docking process, thereby improving the success rate of autonomous alignment and docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of the workflow of a system and method for autonomously aligning and docking two space objects provided by an embodiment of the present invention;

[0044] Figure 2 A schematic diagram of the structure of an autonomous alignment and docking system for two space objects (excluding a target) provided by an embodiment of the present invention;

[0045] Figure 3 A schematic diagram of the working state of the autonomous alignment and docking system of two space objects provided by an embodiment of the present invention.

[0046] In the figure: 10, mounting frame; 20, processor; 30, radar detection unit; 40, visual measurement unit; 50, target; 60, first target; 70, second target. DETAILED DESCRIPTION

[0047] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0048] Please also read Figures 1 to 3, the autonomous alignment and docking system for two space targets provided by the present invention is now described. The autonomous alignment and docking system for two space targets includes a mounting frame 10, a processor 20, a target 50, a radar detection unit 30, and a visual measurement unit 40; the mounting frame 10 is used to be fixed on a first target 60; the processor 20 is arranged on the mounting frame 10, and is used for data storage and calculation; the target 50 is used to be fixed on a second target 70; the radar detection unit 30 is arranged on the processor 20, and is electrically connected to the processor 20, and is used to establish a radar coordinate system through the processor 20, and obtain the calibrated coordinates H1 of the target 50 in the radar coordinate system; the visual measurement unit 40 is arranged on the mounting frame 10, and is electrically connected to the processor 20, and is used to establish a visual coordinate system through the processor 20, and obtain the calibrated coordinates H2 of the target 50 in the visual coordinate system;

[0049] The processor 20 is used to obtain the conversion matrix H between the radar coordinate system and the visual coordinate system according to the calibration coordinates H1 and H2. T When the target 50 is outside the recognition range of the visual measurement unit 40, the radar detection unit 30 is used to obtain the radar detection coordinates L1 of the target 50, and convert the radar detection coordinates L1 into visual measurement coordinates S1 through the processor 20, and the visual measurement coordinates S1 are used to guide the target 50 to enter the recognition range of the visual measurement unit 40; when the target 50 is within the recognition range of the visual measurement unit 40, the visual measurement unit 40 is used to directly obtain the visual measurement coordinates S2 of the target 50; the visual measurement coordinates S2 are used to guide the second target 70 to complete the docking with the first target 60.

[0050] It should be noted that the target 50 used in this embodiment can be recognized by both the radar detection unit 30 and the visual measurement unit 40. That is to say, the radar detection unit 30 and the visual measurement unit 40 are calibrated using the same standard point (target 50) to improve the reliability of the transformation matrix established between the coordinate systems of the two.

[0051] Compared with the prior art, the autonomous alignment and docking system for two targets in space provided by the present embodiment adopts a combination of radar detection and visual measurement, and establishes a conversion matrix between the radar coordinate system and the visual coordinate system after calibrating the two. Therefore, when the two targets in space approach each other at medium and long distances using the radar detection unit 30 and docking at close range using the visual measurement unit 40, both can use the more accurate visual measurement coordinates as calculation and processing objects, without the need to perform global exploration through the radar detection unit 30 to generate three-dimensional point cloud data or construct a global map model, thereby greatly reducing the amount of calculation and processing time of the processor 20, avoiding the delay error between the detected distance and the actual distance of the two targets during the docking process, and thus improving the success rate of autonomous alignment and docking.

[0052] In some embodiments, see Figure 1 When the target 50 is within the recognition range of the visual measurement unit 40, the radar detection unit 30 is used to obtain the radar detection coordinates L2, and the processor 20 converts the radar detection coordinates L2 into the visual measurement coordinates S 20 , and the visual measurement coordinate S 20 Compare and verify with the visual measurement coordinate S2.

[0053] It should be understood that close-range docking is the stage with the most stringent requirements on alignment accuracy in the entire docking process, which directly affects whether the docking can be successful. Here, the high-precision characteristics of the visual measurement unit 40 are used as the main detection means, and the radar detection unit 30 is used as an auxiliary verification means. The radar detection coordinate L2 is obtained by the radar detection unit 30 for the real-time position of the target 50, and then the radar detection coordinate L2 is converted based on the transformation matrix H T And converted into visual measurement coordinates S 20 , by comparing the visually measured coordinates S 20 The visual measurement coordinate S2 obtained by the visual measurement unit 40 for the real-time position of the target 50 is considered to be consistent with the real-time position of the target if the two are within a reasonable tolerance range. If there is a continuous deviation between the two for two or more times, it means that the radar detection unit 30 and / or the visual measurement unit 40 is faulty. The most likely reason for this problem is that the mounting frame 10 is misaligned, resulting in calibration failure. It is necessary to recalibrate the radar detection unit 30 and the visual measurement unit 40 and establish a new transformation matrix H. T .

[0054] In the close-range docking process, the radar detection unit 30 can verify the visual measurement unit 40 to ensure the accuracy of the detection of the real-time position of the target object and improve the docking success rate.

[0055] In this embodiment, the radar detection unit 30 is a laser radar, and the visual measurement unit 40 is a three-eye camera. When the laser radar is selected, there is no need to model the current area as a whole during the detection process. It is only necessary to track a small area near the target 50 in real time to obtain the radar detection coordinates of the target 50, thereby reducing data redundancy, reducing the amount of processing operations, improving timeliness, and reducing the hardware requirements for the processor 20; and the use of a three-eye camera can have extremely high visual measurement accuracy, thereby improving the alignment of two targets after they are close to each other and improving the docking success rate.

[0056] It should be noted that, in this embodiment, Figure 2As shown, the mounting frame 10 adopts the structure of an equilateral triangle tripod, and a camera is embedded in each corner of the tripod, and the three cameras together form a trinocular camera; the radar detection unit 30 and the processor 20 adopt an integrated structure, specifically, the processor 20 is fixed at the bottom of the mounting frame 10 (the lower frame of the tripod), and then the radar detection unit 30 (laser radar) is embedded in the processor 20. It should be noted that a light outlet aligned with the transmitting end of the laser radar and a light receiving port aligned with the receiving end of the laser radar should be provided on the shell of the processor 20 to avoid the processor 20 shell interfering with the detection accuracy of the laser radar.

[0057] Based on the same inventive concept, please refer to Figures 1 to 3 The present application also provides a method for autonomously aligning and docking two space objects, including the following steps:

[0058] Step S100, fixing the radar detection unit 30, the visual measurement unit 40 and the processor 20 on the first target object 60, and setting the target 50 within the range that can be recognized by both the radar detection unit 30 and the visual measurement unit 40;

[0059] Step S200, by identifying the target 50, the radar detection unit 30 and the visual measurement unit 40 are calibrated respectively, the coordinate conversion relationship between the radar coordinate system and the visual coordinate system is obtained, and the visual coordinate system is used as the calculation and processing coordinate system of the processor 20;

[0060] Step S300, fix the target 50 on a known point of the second target object 70, start moving the second target object 70, and detect in real time through the radar detection unit 30 and / or the visual measurement unit 40 to obtain the real-time coordinates of the target 50 in the calculation and processing coordinate system;

[0061] In step S400 , the processor 20 guides the second target object 70 and the first target object 60 to gradually approach each other according to the real-time coordinates acquired in sequence until they are aligned and docked.

[0062] Compared with the prior art, the autonomous alignment and docking method for two targets in space provided by the present embodiment adopts a combination of radar detection and visual measurement, and establishes a conversion matrix between the radar coordinate system and the visual coordinate system after calibrating the two. Therefore, when the two targets in space approach each other at medium and long distances using the radar detection unit 30 and docking at close range using the visual measurement unit 40, both can use the more accurate visual measurement coordinates as calculation and processing objects, without the need to perform global exploration through the radar detection unit 30 to generate three-dimensional point cloud data or construct a global map model, thereby greatly reducing the amount of calculation and processing time of the processor 20, avoiding the delay error between the detected distance and the actual distance of the two targets during the docking process, and thus improving the success rate of autonomous alignment and docking.

[0063] In some possible implementations, the above step S200 includes:

[0064] Step S201, establishing a radar coordinate system and a visual coordinate system respectively by the processor 20;

[0065] Step S202, obtaining the calibration coordinates H1 of the target 50 in the radar coordinate system through the radar detection unit 30;

[0066] Step S203, obtaining the calibration coordinates H2 of the target 50 in the visual coordinate system through the visual measurement unit 40;

[0067] Step S204: the processor 20 obtains the transformation matrix H between the radar coordinate system and the visual coordinate system according to the calibration coordinates H1 and H2. T , and determine the visual coordinate system as the calculation and processing coordinate system.

[0068] Using the transformation matrix H T The visual coordinate system can be used as the calculation and processing coordinate system throughout the entire docking process, thereby reducing the amount of calculation of the processor 20. At the same time, the visual coordinate system can be used to improve the alignment accuracy by taking advantage of the superiority of the radar coordinate system.

[0069] In some embodiments, the above step S300 includes:

[0070] Step S301, fix the target 50 on a known point of the second target object 70, start moving the second target object 70, and when the target 50 is outside the recognition range of the visual measurement unit 40, obtain the radar detection coordinate L1 of the target 50 through the radar detection unit 30;

[0071] Step S302: the processor 20 calculates the conversion matrix H T Convert the radar detection coordinates L1 into visual measurement coordinates S1, thereby obtaining the real-time coordinates of the target 50 in the computing and processing coordinate system;

[0072] Step S303 , when the second target object 70 moves into the recognition range of the visual measurement unit 40 , the visual measurement coordinates S2 of the target 50 are directly acquired by the visual measurement unit 40 , thereby obtaining the real-time coordinates of the target 50 in the calculation and processing coordinate system.

[0073] The radar detection unit 30 is mainly used for long-range or medium-range (the target object is outside the recognition range of the visual measurement unit 40) considerations, and can smoothly guide the target object into the recognition range of the visual measurement unit 40, thereby improving the medium and long-range docking capabilities. At the same time, in the medium and long-range docking guidance process, the visual coordinate system can always be used as the calculation and processing coordinate system through the role of the conversion matrix, thereby reducing the amount of calculation of the processor 20 and improving timeliness.

[0074] Specifically, in this embodiment, the above step S303 includes:

[0075] Step S3031, when the second target object 70 moves into the recognition range of the visual measurement unit 40, the visual measurement coordinates S2 of the target 50 are directly acquired by the visual measurement unit 40;

[0076] Step S3032, obtaining the radar detection coordinates L2 of the target 50 through the radar detection unit 30;

[0077] Step S3033: the processor 20 calculates the conversion matrix H T Convert the radar detection coordinate L2 into the visual measurement coordinate S 20 ;

[0078] Step S3034: the processor 20 compares the visual measurement coordinate S2 with the visual measurement coordinate S 20 Perform comparison and verification, and use the visual measurement coordinates S2 as the real-time coordinates of the target 50 in the calculation and processing coordinate system;

[0079] Step S3035: if the visual measurement coordinate S2 is equal to the visual measurement coordinate S 20 If there are two consecutive deviations, the radar detection unit 30 and the visual measurement unit 40 are recalibrated.

[0080] The high-precision characteristics of the visual measurement unit 40 are used as the main detection means, and the radar detection unit 30 is used as an auxiliary verification means. The radar detection coordinate L2 is obtained by the radar detection unit 30 for the real-time position of the target 50, and then the radar detection coordinate L2 is converted based on the transformation matrix H T And converted into visual measurement coordinates S 20 , by comparing the visually measured coordinates S 20The visual measurement coordinate S2 obtained by the visual measurement unit 40 for the real-time position of the target 50 is considered to be consistent with the real-time position of the target if the two are within a reasonable tolerance range. If there is a continuous deviation between the two for two or more times, it means that the radar detection unit 30 and / or the visual measurement unit 40 is faulty. The most likely reason for this problem is that the mounting frame 10 is misaligned, resulting in calibration failure. It is necessary to recalibrate the radar detection unit 30 and the visual measurement unit 40 and establish a new transformation matrix H. T In the close-range docking process, the radar detection unit 30 can verify the visual measurement unit 40 to ensure the accuracy of the detection of the real-time position of the target object and improve the docking success rate.

[0081] In some embodiments, the above step S400 includes:

[0082] Step S401, the processor 20 calculates the distance between the second target object 70 and the first target object 60 according to the real-time coordinates obtained from each detection;

[0083] Step S402: If the distance D calculated for the n+1th time n+1 >The distance D calculated for the nth time n , the second target object 70 is returned to the position of the nth real-time coordinate to re-determine the forward direction; if the distance D calculated for the n+1th time n+1 ≤ the distance D calculated for the nth time n , then continue to approach the first target object 60 at the position of the n+1th real-time coordinate until the second target object 70 is aligned and docked with the first target object 60.

[0084] For details, please refer to Figure 1 In the process of medium and long-range docking, the moving trajectory of the second target object 70 is tracked by the radar detection unit 30 to ensure that the second target object 70 is always within the recognition area of ​​the radar detection unit 30, and at the same time, it is ensured that the two targets are always in a state of gradually approaching. The approaching state can be specifically judged by calculating the size of the module of the real-time coordinates obtained for the nth time and the n+1th time in the calculation and processing coordinate system. Similarly, in the process of close-range alignment and docking, the moving trajectory of the second target object 70 is continuously tracked by the visual measurement unit 40, and it should also be ensured that the second target object 70 is always within the recognition area of ​​the visual measurement unit 40, and the two targets are guided to always be in a state of gradually approaching. The judgment of the approaching state also adopts the method of comparing the size of the module of the real-time coordinates in the calculation and processing coordinate system.

[0085] For example, the radar detection unit 30 uses a laser radar, the visual measurement unit 40 uses a three-eye camera, and the radar coordinate system and the visual coordinate system are both three-dimensional coordinate systems.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An autonomous alignment and docking system for two objects in space, characterized in that: include: A mounting frame, used for fixing on the first target object; A processor, disposed on the mounting frame, for data storage and calculation; A target, used to be fixed on a second target object; A radar detection unit, disposed on the processor and electrically connected to the processor, for establishing a radar coordinate system through the processor and obtaining a calibrated coordinate H1 of the target in the radar coordinate system; A visual measurement unit, disposed on the mounting frame and electrically connected to the processor, for establishing a visual coordinate system through the processor and obtaining a calibration coordinate H2 of the target in the visual coordinate system; The processor is used to obtain the conversion matrix H between the radar coordinate system and the visual coordinate system according to the calibration coordinates H1 and the calibration coordinates H2. T ; When the target is outside the recognition range of the visual measurement unit, the radar detection unit is used to obtain the radar detection coordinates L1 of the target, and convert the radar detection coordinates L1 into visual measurement coordinates S1 through the processor, and the visual measurement coordinates S1 is used to guide the target into the recognition range of the visual measurement unit; When the target is within the recognition range of the visual measurement unit, the visual measurement unit is used to directly obtain the visual measurement coordinates S2 of the target, and the visual measurement coordinates S2 are used to guide the second target object to complete docking with the first target object.

2. The autonomous alignment and docking system for two space objects as claimed in claim 1, characterized in that: When the target is within the recognition range of the visual measurement unit, the radar detection unit is used to obtain the radar detection coordinates L2, and the processor converts the radar detection coordinates L2 into visual measurement coordinates S 20 , and the visual measurement coordinate S 20 Compare and verify with the visual measurement coordinates S2.

3. The autonomous alignment and docking system for two space objects as claimed in claim 1, characterized in that: The radar detection unit is a laser radar, and the visual measurement unit is a trinocular camera.

4. A method for autonomous alignment and docking of two objects in space, characterized in that: The following steps are involved: Step S100, fixing a radar detection unit, a visual measurement unit and a processor on a first target object, and setting a target within a range that can be recognized by both the radar detection unit and the visual measurement unit; Step S200, by identifying the target, calibrating the radar detection unit and the visual measurement unit respectively, obtaining a coordinate conversion relationship between a radar coordinate system and a visual coordinate system, and using the visual coordinate system as a calculation processing coordinate system of the processor; Step S300, fixing the target at a known point of a second target object, starting to move the second target object, and performing real-time detection by the radar detection unit and / or the visual measurement unit to obtain the real-time coordinates of the target in the calculation and processing coordinate system; Step S400: The processor guides the second target object and the first target object to gradually approach each other according to the real-time coordinates acquired in sequence until they are aligned and docked.

5. The autonomous alignment and docking method of two space objects as claimed in claim 4, characterized in that: The step S200 includes: Step S201, establishing the radar coordinate system and the visual coordinate system respectively by the processor; Step S202, obtaining the calibration coordinates H1 of the target in the radar coordinate system through the radar detection unit; Step S203, obtaining the calibration coordinates H2 of the target in the visual coordinate system through the visual measurement unit; Step S204: the processor obtains a transformation matrix H between the radar coordinate system and the visual coordinate system according to the calibration coordinates H1 and H2. T , and determine to use the visual coordinate system as the calculation and processing coordinate system.

6. The autonomous alignment and docking method of two space objects as claimed in claim 5, characterized in that: The step S300 includes: Step S301, fixing the target at a known point of the second target object, starting to move the second target object, and when the target is out of the recognition range of the visual measurement unit, acquiring the radar detection coordinates L1 of the target through the radar detection unit; Step S302: the processor calculates the conversion matrix H according to the conversion matrix H. T Convert the radar detection coordinate L1 into the visual measurement coordinate S1, thereby obtaining the real-time coordinate of the target in the computing and processing coordinate system; Step S303: when the second target moves into the recognition range of the visual measurement unit, the visual measurement coordinates S2 of the target are directly acquired by the visual measurement unit, thereby obtaining the real-time coordinates of the target in the calculation and processing coordinate system.

7. The autonomous alignment and docking method of two space objects as claimed in claim 6, characterized in that: The step S303 includes: Step S3031, when the second target moves into the recognition range of the visual measurement unit, directly acquiring the visual measurement coordinates S2 of the target through the visual measurement unit; Step S3032, obtaining the radar detection coordinates L2 of the target through the radar detection unit; Step S3033: the processor calculates the conversion matrix H according to the conversion matrix H. T The radar detection coordinate L2 is converted into the visual measurement coordinate S 20 ; Step S3034: the processor compares the visual measurement coordinate S2 with the visual measurement coordinate S 20 A comparison and verification is performed, and the visual measurement coordinate S2 is used as the real-time coordinate of the target in the computing and processing coordinate system.

8. The autonomous alignment and docking method of two space objects as claimed in claim 7, characterized in that: After step S3034, the method further includes: Step S3035: if the visual measurement coordinate S2 is equal to the visual measurement coordinate S 20 If there are two consecutive deviations, the radar detection unit and the visual measurement unit are recalibrated.

9. The autonomous alignment and docking method of two space objects as claimed in claim 4, characterized in that: The step S400 includes: Step S401, calculating, by the processor, the distance between the second target object and the first target object according to the real-time coordinates acquired through each detection; Step S402: If the distance D calculated for the n+1th time n+1 >The distance D obtained by the nth calculation n , then the second target object is returned to the position of the nth real-time coordinate to re-determine the forward direction; if the distance D calculated for the n+1th time n+1 ≤ the distance D calculated for the nth time n , then continue to approach the first target object at the position of the n+1th real-time coordinate until the second target object is aligned with the first target object.

10. The autonomous alignment and docking method of two space objects according to any one of claims 4 to 9, characterized in that: The radar detection unit adopts a laser radar, the visual measurement unit adopts a trinocular camera, and the radar coordinate system and the visual coordinate system are both three-dimensional coordinate systems.

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