Target Relative Pose Measurement Method Based on Structured Targets

Abstract

This invention discloses a target relative pose measurement method based on a structural target. The steps include: 1) constructing a target pose measurement device based on a structural target; 2) docking and assembling the main module (7) and the sub-module (2); 3) using a 2D profilometer (3) to scan the structural target (8) and obtain the distance of each sequence point of segment A, segment B, and segment C on the structural target (8) relative to the 2D profilometer (3) and the width of each segment, and sending them to the calculation module (12); 4) obtaining the pose of the non-cooperative target area according to the pose relationship of the measured area, and realizing the docking assembly of the docking pin and the docking hole. This invention introduces fewer error sources and has a simple and efficient measurement method, reducing the complexity of pose calculation, shortening the assembly docking time, and improving the target's measured pose accuracy.

Description

Technical Field

[0001] This invention relates to the aerospace field, specifically to a target relative pose measurement method based on a structural target. Background Technology

[0002] Spacecraft assembly technology is a primary condition for ensuring the quality of spacecraft and the normal operation of subsequent spacecraft in space. Currently, achieving precise assembly and docking of spacecraft mainly relies on optical measurement methods to determine the relative attitude of the assembly area. However, research in this area is limited in the field of spacecraft assembly. Most assembly is done manually, and the spacecraft assembly process faces the following challenges: 1) the scale of the area to be precisely assembled spans a large range; 2) markings and targets cannot be painted on the components; 3) the measurement area is long and narrow, making direct measurement difficult. Methods for measuring the attitude of such targets mainly rely on their shape features, such as docking rings, structural frames, tripods, rectangular solar panels, and connecting lugs, to establish and solve an appropriate reference coordinate system, thereby calculating the relative attitude of the target. However, the complexity of the calculation process and the selection of shape features significantly impact measurement efficiency and assembly / dock speed. Therefore, selecting suitable shape features and simple measurement methods and applying them to the spacecraft assembly process is one of the effective ways to solve the current measurement and assembly difficulties. The primary condition for achieving this goal is determining the spatial relative attitude of the assembly / dock area. Summary of the Invention

[0003] The purpose of this invention is to provide a target relative pose measurement method based on a structured target, comprising the following steps:

[0004] 1) Construct a target pose measurement device based on a structural target. The target pose measurement device based on a structural target includes a sub-module, a 2D profilometer, a first connecting rod, a second connecting rod, a main module, a structural target, an auxiliary installation platform, a six-degree-of-freedom adjustment platform, a measurement module, a calculation module, a measurement area module, a mechanical module, a two-dimensional inclinometer, and an auxiliary installation calibration block.

[0005] The sub-module has a docking hole. The main module has docking pins.

[0006] The steps for building a target pose measurement device based on a structured target include:

[0007] The main module and the sub-module are installed on the auxiliary installation platform using the auxiliary installation calibration block.

[0008] One end of the first connecting rod is connected to the sub-module, and the other end is connected to the six-degree-of-freedom adjustment platform corresponding to the sub-module.

[0009] One end of the second connecting rod is connected to the main module, and the other end is connected to the six-degree-of-freedom adjustment platform corresponding to the main module.

[0010] A 2D profilometer is mounted on the first connecting rod. A structural target is mounted on the second connecting rod. The structural target includes segments A, B, and C, each segment comprising several sequence points.

[0011] 2) Use the values ​​of the tilt component Rx and tilt component Ry measured by the two-dimensional tilt meter on the auxiliary installation platform to level the main module and the sub-module.

[0012] The steps for leveling the main and sub-modules using the 2D inclinometer on the auxiliary installation platform include:

[0013] 2.1) Use a two-dimensional inclinometer to measure the inclinometer angles of the main module and the sub-module respectively, and transmit the data to the solution module.

[0014] 2.2) The calculation module determines whether the tilt angles of the main module and the sub-module are both zero. If so, the leveling ends; otherwise, proceed to step ( ).

[0015] 2.3) If the tilt angle of the main module is not zero, the solution module generates a leveling signal for the main module based on the tilt angle of the main module and sends it to the six-degree-of-freedom adjustment platform corresponding to the main module.

[0016] If the tilt angle of the sub-module is not zero, the solution module generates a leveling signal for the sub-module based on the tilt angle of the sub-module and sends it to the six-degree-of-freedom adjustment platform corresponding to the sub-module.

[0017] 2.4) After receiving the leveling signal from the main module, the six-degree-of-freedom adjustment platform corresponding to the main module adjusts the tilt angle of the main module through the second connecting rod.

[0018] After receiving the leveling signal from the sub-module, the six-degree-of-freedom adjustment platform corresponding to the sub-module adjusts the tilt angle of the sub-module through the first connecting rod.

[0019] After adjustment, return to step 2.1).

[0020] 3) Connect and assemble the main module and the sub-module.

[0021] 4) Use a 2D profilometer to scan the structural target, obtain the distance of each sequence point of segment A, segment B, and segment C on the structural target relative to the 2D profilometer and the width of each segment, and send them to the solution module.

[0022] 5) The solution module uses the distance between each sequence point in segment B and the 2D profilometer to fit a straight line A. b x+B b x+C b =0, and calculate the direction vector. With the calibrated direction vector of segment B Positional relationship; A b B b C b These are the fitting coefficients;

[0023] Direction vector After manually aligning the pose, the solution module uses the distance between each sequence point in segment B and the 2D profilometer to fit a straight line A. b x+B b x+C b =0, and thus the direction vector is calculated.

[0024] The direction vector With direction vector Positional relationships are determined by direction vectors With direction vector The included angle Rz is characterized.

[0025] The direction vector With direction vector Positional relationships are determined by direction vectors With direction vector The included angle Rz is shown below:

[0026]

[0027] In the formula, Direction vector The length.

[0028] After calculating the direction vector With the calibrated direction vector of segment B After determining the positional relationship, the plane EFHG is leveled with the main module plane based on the tilt component Rx, tilt component Ry, and included angle Rz, thereby leveling the attitude of the main module and the sub-module.

[0029] 6) The calculation module determines whether the angle Rz = 0 is true. If it is, proceed to step 8); otherwise, proceed to step 7.

[0030] 7) The calculation module generates a sub-module leveling signal based on the angle Rz and sends it to the six-degree-of-freedom adjustment platform corresponding to the sub-module.

[0031] After receiving the leveling signal from the sub-module, the six-degree-of-freedom adjustment platform corresponding to the sub-module adjusts the tilt angle of the sub-module through the first connecting rod and returns to the previous step.

[0032] 8) Use a 2D profilometer to scan the structural target, obtain the distance of each sequence point of segment A, segment B, and segment C on the structural target relative to the 2D profilometer and the width of each segment, and send them to the solution module.

[0033] 9) The calculation module calculates the relative pose (dx, dy, dz) of the structural target relative to the 2D profilometer based on the distance of each sequence point in segments A, B, and C relative to the 2D profilometer and the width of each segment.

[0034] In the relative pose (dx, dy, dz), the coordinate parameter dx is equal to the difference between the distance of segment B data and the distance of the calibrated data relative to the 2D profilometer; the coordinate parameter dy is equal to the distance between segment A and the calibrated line segment; and the coordinate parameter dz is equal to the distance between segment C and the calibrated segment C.

[0035] The coordinate parameters dx, dy, and dz are all calculated using the formula for the distance between two parallel lines.

[0036] The coordinate parameter dx is shown below:

[0037]

[0038] In the formula, C B is a coefficient.

[0039] 10) Determine the pose of the non-cooperative target area based on the pose relationship of the measured area, and realize the docking assembly of the docking pin and the docking hole. The non-cooperative target area includes the area where the docking pin and the docking hole are located.

[0040] The pose of the non-cooperative target region is the pose Q of the center point of the docking pin, that is:

[0041] Q = WR + T (3)

[0042] In the formula, R and T are the known rotation and position matrices obtained from calibration; W is the pose of the centroid of the structural target.

[0043] The conditions for achieving mating assembly between the mating pin and the mating hole include:

[0044] (vc) / 2+Δ1=V (4)

[0045] arctan[(vc) / f]+Δ2=C (5)

[0046] In the formula, c is the minimum diameter of the docking pin; v is the maximum diameter of the docking hole; f is the length of the docking pin; Δ1 and Δ2 are errors; V and C are the minimum thresholds for the position and attitude accuracy of successful docking.

[0047] The technical effects of this invention are undeniable. This invention achieves accurate measurement of target pose, solving the technical problem of low accuracy in target pose measurement. The measurement principle of this invention is simple and ingenious, and it has fewer intermediate measurement steps, thus improving the pose calculation speed. This invention is lightweight and consumes less power, and both the 2D inclinometer and the 2D profilometer are relatively mature products. This invention adopts fully automated assembly, reducing the errors caused by manual assembly and the impact of human operation mistakes on spacecraft quality, and shortening the assembly time. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the overall structure of the target relative pose measurement method of the structural target of the present invention.

[0049] Figure 2 This is a schematic diagram of the target relative pose measurement method of the structural target of the present invention;

[0050] Figure 3 This is a schematic diagram of the upper structure of the auxiliary installation platform of the present invention;

[0051] In the diagram: 1. Docking hole; 2. Sub-module; 3. 2D profilometer; 4. First connecting rod; 5. Second connecting rod; 6. Docking pin; 7. Main module; 8. Structural target; 9. Auxiliary installation platform; 10. Six-degree-of-freedom adjustment platform; 11. Measurement module; 12. Solution module; 13. Measurement area module; 14. Mechanical module; 15. Two-dimensional inclinometer; 16. Auxiliary installation calibration block. Detailed Implementation

[0052] The present invention will be further described below with reference to embodiments, but it should not be construed that the scope of the present invention is limited to the following embodiments. Various substitutions and modifications made based on ordinary technical knowledge and common practices in the art without departing from the above-described technical concept of the present invention should be included within the scope of protection of the present invention.

[0053] Example 1:

[0054] See Figures 1 to 3 A target relative pose measurement method based on a structural target includes the following steps:

[0055] 1) Construct a target pose measurement device based on a structural target. The target pose measurement device based on a structural target includes a sub-module 2, a 2D profilometer 3, a first connecting rod 4, a second connecting rod 5, a main module 7, a structural target 8, an auxiliary mounting platform 9, a six-degree-of-freedom adjustment platform 10, a measurement module 11, a calculation module 12, a measurement area module 13, a mechanical module 14, a two-dimensional inclinometer 15, and an auxiliary mounting calibration block 16.

[0056] The sub-module 2 has a docking hole 1. The main module 7 has docking pins 6.

[0057] The steps for building a target pose measurement device based on a structured target include:

[0058] The main module 7 and the sub-module 2 are installed on the auxiliary installation platform 9 using the auxiliary installation calibration block 16.

[0059] One end of the first connecting rod 4 is connected to the sub-module 2, and the other end is connected to the six-degree-of-freedom adjustment platform 10 corresponding to the sub-module 2.

[0060] One end of the second connecting rod 5 is connected to the main module 7, and the other end is connected to the six-degree-of-freedom adjustment platform 10 corresponding to the main module 7.

[0061] The 2D profilometer 3 is mounted on the first connecting rod 4. The structural target 8 is mounted on the second connecting rod 5. The structural target 8 includes segments A, B, and C, each segment comprising several sequence points.

[0062] 2) The values ​​of the tilt component Rx and tilt component Ry are measured by leveling using the two-dimensional tilt meter 15 on the auxiliary installation platform 9 in the main module 7 and the sub-module 2.

[0063] The steps for leveling the main module 7 and the sub-module 2 using the two-dimensional inclinometer 15 on the auxiliary installation platform 9 include:

[0064] 2.1) The tilt angles of the main module 7 and the sub-module 2 are measured using a two-dimensional tilt meter 15 and transmitted to the solution module 12.

[0065] 2.2) The calculation module 12 determines whether the tilt angles of the main module 7 and the sub-module 2 are both zero. If so, the leveling ends; otherwise, it proceeds to step 3.

[0066] 2.3) If the tilt angle of the main module 7 is not zero, the solution module 12 generates a main module leveling signal based on the tilt angle of the main module 7 and sends it to the six-degree-of-freedom adjustment platform 10 corresponding to the main module 7.

[0067] If the tilt angle of sub-module 2 is not zero, the solution module 12 generates a sub-module leveling signal based on the tilt angle of sub-module 2 and sends it to the six-degree-of-freedom adjustment platform 10 corresponding to sub-module 2.

[0068] 2.4) After receiving the leveling signal from the main module 7, the six-degree-of-freedom adjustment platform 10 corresponding to the main module 7 adjusts the tilt angle of the main module 7 through the second connecting rod 5.

[0069] After receiving the leveling signal from the sub-module 2, the six-degree-of-freedom adjustment platform 10 corresponding to the sub-module 2 adjusts the tilt angle of the sub-module 2 through the first connecting rod 4.

[0070] After adjustment, return to step 2.1.

[0071] 3) Connect and assemble the main module 7 and the sub-module 2.

[0072] 4) Use the 2D profilometer 3 to scan the structural target 8, obtain the distance of each sequence point of segment A, segment B and segment C on the structural target 8 relative to the 2D profilometer 3 and the width of each segment, and send them to the calculation module 12.

[0073] 5) The solution module 12 uses the distance between each sequence point in segment B and the 2D profilometer 3 to fit the straight line A. b x+B b x+C b =0, and calculate the direction vector. With the calibrated direction vector of segment B Positional relationship; A b B b C b For coefficients;

[0074] Direction vector After manually aligning the pose, the solution module 12 uses the distance between each sequence point in segment B and the 2D profilometer 3 to fit a straight line A. b x+B b x+C b =0, and thus the direction vector is calculated.

[0075] The direction vector With direction vector Positional relationships are determined by direction vectors With direction vector The included angle Rz is characterized.

[0076] The direction vector With direction vector Positional relationships are determined by direction vectors With direction vector The included angle Rz is shown below:

[0077]

[0078] In the formula, Direction vector The length.

[0079] After calculating the direction vector With the calibrated direction vector of segment B After determining the positional relationship, the plane EFHG is leveled with the plane of the main module 7 based on the tilt component Rx, tilt component Ry, and included angle Rz, thereby leveling the attitude of the main module 7 and the sub-module 2.

[0080] 6) The solution module 12 determines whether the angle Rz = 0 is true. If it is true, proceed to step 8; otherwise, proceed to step 7.

[0081] 7) The calculation module 12 generates a sub-module leveling signal based on the angle Rz and sends it to the six-degree-of-freedom adjustment platform 10 corresponding to the sub-module 2.

[0082] After receiving the leveling signal from the sub-module 2, the six-degree-of-freedom adjustment platform 10 corresponding to the sub-module 2 adjusts the tilt angle of the sub-module 2 through the first connecting rod 4 and returns to step 4.

[0083] 8) Use the 2D profilometer 3 to scan the structural target 8, obtain the distance of each sequence point of segment A, segment B and segment C on the structural target 8 relative to the 2D profilometer 3 and the width of each segment, and send them to the calculation module 12.

[0084] 9) The calculation module 12 calculates the relative pose dx, dy, dz of the structural target 8 relative to the 2D profilometer 3 based on the distance of each sequence point in segments A, B, and C relative to the 2D profilometer 3 and the width of each segment.

[0085] In the relative pose (dx, dy, dz), the coordinate parameter dx is equal to the difference between the distance of segment B data and the distance of the calibrated data relative to the 2D profilometer; the coordinate parameter dy is equal to the distance between segment A and the calibrated line segment; and the coordinate parameter dz is equal to the distance between segment C and the calibrated segment C.

[0086] The coordinate parameters dx, dy, and dz are all calculated using the formula for the distance between two parallel lines.

[0087] The coordinate parameter dx is shown below:

[0088]

[0089] In the formula, C B is a coefficient.

[0090] 10) Based on the pose relationship of the measured area, the pose of the non-cooperative target area is obtained, and the docking pin 6 and the docking hole 1 are docked and assembled. The non-cooperative target area includes the area where the docking pin 6 and the docking hole 1 are located.

[0091] The pose of the non-cooperative target region is the pose Q of the center point of the docking pin 6, that is:

[0092] Q = WR + T (3)

[0093] In the formula, R and T are the known rotation and position matrices obtained from calibration; W is the pose of the centroid of the structural target.

[0094] The conditions for achieving mating assembly between the mating pin and the mating hole include:

[0095] (vc) / 2+Δ1=V mm (4)

[0096] arctan[(vc) / f]+Δ2=C°(5)

[0097] In the formula, c is the minimum diameter of the docking pin; v is the maximum diameter of the docking hole; f is the length of the docking pin; Δ1 is the machining error of the structure in μm; Δ2 is the machining error of the structure in °; V and C are the position and attitude accuracy prerequisites for successful docking, in mm and ° respectively.

[0098] Example 2:

[0099] The target relative pose measurement method based on structured targets includes the following steps:

[0100] The mounting positions of the various devices are as follows: Figure 1 Overall structural diagram of the present invention and Figure 3 The schematic diagram of the upper structure of the auxiliary installation platform of this invention is shown. The principle of measuring pose is as follows: Figure 2 The schematic diagram of the measurement method is shown. The main steps of this measurement scheme are as follows:

[0101] A. Calibration: First, according to... Figure 1 and Figure 3 The structure involves mounting the main and auxiliary modules onto an auxiliary mounting platform using auxiliary mounting calibration blocks. The main and auxiliary modules are then leveled using a 2D inclinometer on the auxiliary mounting platform. Two connecting rods are then installed on the sides of the two six-degree-of-freedom platforms. A 2D profilometer and the structural target are then mounted on their respective connecting rods, and the main and auxiliary modules are manually assembled. After assembly, the structural target is scanned using the 2D profilometer, obtaining the distances of segments A, B, and C on the structural target relative to the 2D profilometer coordinate system, as well as the width of each segment.

[0102] B. Measurement:

[0103] (1) First, according to Figure 1 The structure involves mounting the main and auxiliary modules on an auxiliary mounting platform, then installing two connecting rods on the sides of the main and auxiliary six-degree-of-freedom platforms, and finally mounting the 2D profilometer and the structural target on the corresponding connecting rods.

[0104] (2) First, the data measured by the 2D inclinometer is fed back to the solution module, controlling the six-degree-of-freedom platform on the sub-module of the mechanical module to level the main and sub-modules (i.e., zeroing Rx and Ry), so that the angle between the main and sub-modules in X and Y is zero, thus ensuring that the two modules are level on their respective auxiliary mounting platforms. Further, the structural target is scanned using a 2D profilometer to obtain data from the 2D laser probe, thus obtaining the following... Figure 2The schematic diagram of this invention shows the data in segments A, B, and C.

[0105] C. Pose calculation:

[0106] (1) From the measured data of segments A, B, and C, the distance of each sequence point in segment B from the 2D laser probe can be used to fit a spatial straight line b1b2, i.e., straight line A. b x+B a x+C b =0, and is further processed into a direction vector by the solution module. The direction vector of the calibrated segment B Based on the positional relationship, the angle between line segments b1b2 and B1B2 is calculated according to equation (1), which is the angle Rz between plane EFHG and the alignment plane on the main vehicle.

[0107]

[0108] By adjusting the six-degree-of-freedom platform on the auxiliary vehicle using the feedback Rz, the angle between the B segment data and the calibrated B segment is zero, that is, angle Rz = 0.

[0109] (2) After leveling the plane EFHG and the main vehicle plane as described in (1), the difference between the measured data of segment B and the calibrated data relative to the 2D profiler is dx, which is the formula for the distance between two parallel lines:

[0110]

[0111] (3) Read the values ​​corresponding to each sequence point on segment A. Refer to the formula for the distance between two parallel lines in (2). The difference between the left and right distances of segment A and the calibrated line segment is the left and right movement distance dy of the sub-module relative to the main module.

[0112] (4) Read the values ​​corresponding to each sequence point on segment C. Refer to the distance formula between the two parallel lines in (2). The distance between the measured data of segment C and the calibrated data is dz.

[0113] At this point, the relative pose of the structural target with respect to the 2D profilometer has been measured. Based on the pose relationship of the measured area, the pose of the non-cooperative target area has been obtained, thus realizing the precise docking and assembly of the docking pin and the docking hole.

[0114] This invention discloses a target relative pose measurement method based on a structural target. The invention aims to address the problem of measurement in narrow spaces where traditional visual measurement methods are ineffective, and to solve the problem of cross-scale spatial pose accuracy. The invention includes a measurement module for measuring the structural target; a calculation module for using the width and distance information of each segment obtained from the measurement module; and a mechanical module for transmitting the calculated pose information to a six-degree-of-freedom adjustment platform, assembling and docking the main and sub-modules to achieve precise docking of the docking pin and docking hole. This method introduces fewer error sources, is simple and efficient, reduces the complexity of pose calculation, shortens assembly and docking time, and improves the target's measured pose accuracy.

[0115] Example 3:

[0116] The target relative pose measurement method based on structured targets includes the following steps:

[0117] 1. Construct the target pose measurement device based on the structural target. The target pose measurement device based on the structural target includes a sub-module 2, a 2D profilometer 3, a first connecting rod 4, a second connecting rod 5, a main module 7, a structural target 8, an auxiliary mounting platform 9, a six-degree-of-freedom adjustment platform 10, a calculation module 12, a two-dimensional inclinometer 15, and an auxiliary mounting calibration block 16; the measurement module 11 includes the two-dimensional inclinometer 15 and the 2D profilometer 3.

[0118] The sub-module 2 is provided with a docking hole 1; the main module 7 is provided with docking pins 6.

[0119] The steps for building a target pose measurement device based on a structured target include:

[0120] The main module 7 and the sub-module 2 are installed on the auxiliary installation platform 9 using the auxiliary installation calibration block 16.

[0121] One end of the first connecting rod 4 is connected to the sub-module 2, and the other end is connected to the six-degree-of-freedom adjustment platform 10 corresponding to the sub-module 2;

[0122] One end of the second connecting rod 5 is connected to the main module 7, and the other end is connected to the six-degree-of-freedom adjustment platform 10 corresponding to the main module 7;

[0123] The 2D profilometer 3 is mounted on the first connecting rod 4; the structural target 8 is mounted on the second connecting rod 5; the structural target 8 includes segment A, segment B and segment C, each segment including several sequence points;

[0124] 2. Use the tilt component Rx and tilt component Ry measured by the two-dimensional tilt meter 15 on the auxiliary installation platform 9 to level the main module 7 and the sub-module 2;

[0125] 3. Connect and assemble the main module 7 and the sub-module 2;

[0126] 4. Use the 2D profilometer 3 to scan the structural target 8, obtain the distance of each sequence point of segment A, segment B and segment C on the structural target 8 relative to the 2D profilometer 3 and the width of each segment, and send them to the calculation module 12.

[0127] The solution module 12 described in section 5 uses the distance between each sequence point in segment B and the 2D profilometer 3 to fit the straight line A. b x+B b x+C b =0, and calculate the direction vector. With the calibrated direction vector of segment B Positional relationship; A b B b C b These are the fitting coefficients;

[0128] The direction vector With direction vector Positional relationships are determined by direction vectors With direction vector The included angle Rz is characterized;

[0129] The solution module 12 in step 6 determines whether the included angle Rz = 0 is true. If it is true, proceed to step 8; otherwise, proceed to step 7.

[0130] The calculation module 12 generates a sub-module leveling signal based on the included angle Rz and sends it to the six-degree-of-freedom adjustment platform 10 corresponding to the sub-module 2.

[0131] After receiving the leveling signal from the sub-module 2, the six-degree-of-freedom adjustment platform 10 corresponding to the sub-module 2 adjusts the tilt angle of the sub-module 2 through the first connecting rod 4 and returns to step 4;

[0132] 8. Using a 2D profilometer 3 to scan the structural target 8, the distance of each sequence point of segment A, segment B, and segment C on the structural target 8 relative to the 2D profilometer 3 and the width of each segment are obtained and sent to the calculation module 12.

[0133] The calculation module 12 of section 9 calculates the relative pose dx, dy, dz of the structural target 8 relative to the 2D profilometer 3 based on the distance of each sequence point in section A, section B, and section C relative to the 2D profilometer 3 and the width of each section.

[0134] 10. The pose of the non-cooperative target area is obtained based on the pose relationship of the measured area, thereby realizing the docking assembly of the docking pin 6 and the docking hole 1; the non-cooperative target area includes the area where the docking pin 6 and the docking hole 1 are located.

[0135] Example 4:

[0136] The target relative pose measurement method based on structural targets is described in Example 3. The steps for leveling the main module 7 and sub-module 2 using a two-dimensional tiltmeter 15 on the auxiliary installation platform 9 include:

[0137] 1. The tilt angles of the main module 7 and the sub-module 2 are measured using a two-dimensional tilt meter 15 and transmitted to the solution module 12.

[0138] 2. The calculation module 12 determines whether the tilt angles of the main module 7 and the sub-module 2 are both zero. If so, the leveling ends; otherwise, it proceeds to step 3.

[0139] 3 If the tilt angle of the main module 7 is not zero, the solution module 12 generates a leveling signal for the main module based on the tilt angle of the main module 7 and sends it to the six-degree-of-freedom adjustment platform 10 corresponding to the main module 7.

[0140] If the tilt angle of sub-module 2 is not zero, the solution module 12 generates a sub-module leveling signal based on the tilt angle of sub-module 2 and sends it to the six-degree-of-freedom adjustment platform 10 corresponding to sub-module 2.

[0141] 4. After receiving the leveling signal from the main module 7, the six-degree-of-freedom adjustment platform 10 corresponding to the main module 7 adjusts the tilt angle of the main module 7 through the second connecting rod 5.

[0142] After receiving the leveling signal from the sub-module 2, the six-degree-of-freedom adjustment platform 10 corresponding to the sub-module 2 adjusts the tilt angle of the sub-module 2 through the first connecting rod 4;

[0143] After making the adjustments, return to step 1.

[0144] Example 5:

[0145] A target relative pose measurement method based on a structural target is described in Example 3, where the direction vector... After manually aligning the pose, the solution module 12 uses the distance between each sequence point in segment B and the 2D profilometer 3 to fit a straight line A. b x+B b x+C b =0, and thus the direction vector is calculated.

[0146] Example 6:

[0147] The target relative pose measurement method based on a structured target is described in Example 3, where the direction vector... With direction vector Positional relationships are determined by direction vectors With direction vector The included angle Rz is shown below:

[0148]

[0149] In the formula, Direction vector The length.

[0150] Example 7:

[0151] The target relative pose measurement method based on a structural target is described in Example 3, where the direction vector is calculated. With the calibrated direction vector of segment B After determining the positional relationship, the plane EFHG is leveled with the plane of the main module 7 based on the tilt component Rx, tilt component Ry, and included angle Rz, thereby leveling the attitude of the main module 7 and the sub-module 2.

[0152] Example 8:

[0153] The target relative pose measurement method based on structural targets is described in Example 3. In the relative pose dx, dy, dz, the coordinate parameter dx is equal to the difference between the distance of segment B data and the calibrated data relative to the 2D profilometer; the coordinate parameter dy is equal to the distance between segment A and the calibrated line segment; and the coordinate parameter dz is equal to the distance between segment C and the calibrated segment C.

[0154] Example 9:

[0155] The target relative pose measurement method based on structural targets is described in Example 3. The coordinate parameters dx, dy, and dz are all calculated using the distance formula between two parallel lines.

[0156] Example 10:

[0157] The target relative pose measurement method based on structural targets is described in Example 3, where the coordinate parameter dx is shown below:

[0158]

[0159] In the formula, C B is a coefficient.

[0160] Example 11:

[0161] The target relative pose measurement method based on structural targets is described in Example 3. The pose of the non-cooperative target region is the pose Q of the center point of the docking pin 6, i.e.:

[0162] Q = WR + T

[0163] In the formula, R and T are the known rotation and position matrices obtained from calibration; W is the pose of the centroid of the structural target.

[0164] Example 12:

[0165] The target relative pose measurement method based on structural targets is described in Example 3. The conditions for achieving the docking assembly of the docking pin 6 and the docking hole 1 include:

[0166] (vc) / 2+Δ1=V

[0167] arctan[(vc) / f]+Δ2=C

[0168] In the formula, c is the minimum diameter of the docking pin 6; v is the maximum diameter of the docking hole 1; f is the length of the docking pin 6; Δ1 and Δ2 are errors; V and C are the minimum threshold values ​​for the position and attitude accuracy of successful docking.

Claims

1. A target relative pose measurement method based on a structural target, characterized in that, Includes the following steps: Step 1) Construct a target pose measurement device based on a structural target; the target pose measurement device based on a structural target includes a sub-module (2), a 2D profilometer (3), a first connecting rod (4), a second connecting rod (5), a main module (7), a structural target (8), an auxiliary installation platform (9), a six-degree-of-freedom adjustment platform (10), a measurement module (11), a calculation module (12), a two-dimensional inclinometer (15), and an auxiliary installation calibration block (16); the measurement module (11) includes a two-dimensional inclinometer (15) and a 2D profilometer (3); The sub-module (2) is provided with a docking hole (1); the main module (7) is provided with a docking pin (6); The steps for building a target pose measurement device based on a structured target include: The main module (7) and the sub-module (2) are installed on the auxiliary installation platform (9) using the auxiliary installation calibration block (16); One end of the first connecting rod (4) is connected to the sub-module (2), and the other end is connected to the six-degree-of-freedom adjustment platform (10) corresponding to the sub-module (2); One end of the second connecting rod (5) is connected to the main module (7), and the other end is connected to the six-degree-of-freedom adjustment platform (10) corresponding to the main module (7); The 2D profilometer (3) is mounted on the first connecting rod (4); the structural target (8) is mounted on the second connecting rod (5); the structural target (8) includes segment A, segment B and segment C, each segment including several sequence points; Step 2) Use the values ​​of the tilt component Rx and tilt component Ry measured by the two-dimensional tilt meter (15) on the auxiliary installation platform (9) to level the main module (7) and the sub-module (2). Step 3) Connect and assemble the main module (7) and the sub-module (2); Step 4) Use the 2D profilometer (3) to scan the structural target (8) and obtain the distance of each sequence point of segment A, segment B and segment C on the structural target (8) relative to the 2D profilometer (3) and the width of each segment, and send it to the solution module (12). Step 5) The solution module (12) uses the distance between each sequence point in segment B and the 2D profilometer (3) to fit a straight line. And calculate the direction vector. With the calibrated direction vector of segment B Positional relationships; , , These are the fitting coefficients; The direction vector With direction vector Positional relationships are determined by direction vectors With direction vector The included angle Rz is characterized; Step 6) The solution module (12) determines whether the included angle Rz=0 is true. If it is, proceed to step 8; otherwise, proceed to step 7. Step 7) The calculation module (12) generates a sub-module leveling signal based on the included angle Rz and sends it to the six-degree-of-freedom adjustment platform (10) corresponding to the sub-module (2). After receiving the leveling signal from the sub-module (2), the six-degree-of-freedom adjustment platform (10) corresponding to the sub-module (2) adjusts the tilt angle of the sub-module (2) through the first connecting rod (4) and returns to step 4). Step 8) Use the 2D profilometer (3) to scan the structural target (8) and obtain the distance of each sequence point of segment A, segment B and segment C on the structural target (8) relative to the 2D profilometer (3) and the width of each segment, and send it to the solution module (12). Step 9) The solution module (12) calculates the relative pose (dx, dy, dz) of the structural target (8) relative to the 2D profilometer (3) based on the distance of each sequence point of segment A, segment B, and segment C relative to the 2D profilometer (3) and the width of each segment. Step 10) The pose of the non-cooperative target area is obtained according to the pose relationship of the measured area, and then the docking pin (6) and the docking hole (1) are docked and assembled; the non-cooperative target area includes the area where the docking pin (6) and the docking hole (1) are located.

2. The target relative pose measurement method based on a structural target according to claim 1, characterized in that: The steps for leveling the main module (7) and the sub-module (2) using the two-dimensional inclinometer (15) on the auxiliary installation platform (9) include: Step 1) Use a two-dimensional inclinometer (15) to measure the inclinometer angles of the main module (7) and the sub-module (2) respectively, and transmit the data to the solution module (12). Step 2) The calculation module (12) determines whether the tilt angles of the main module (7) and the sub-module (2) are both zero. If so, the leveling ends; otherwise, proceed to step 3). Step 3) If the tilt angle of the main module (7) is not zero, the solution module (12) generates a leveling signal for the main module (7) based on the tilt angle of the main module (7) and sends it to the six-degree-of-freedom adjustment platform (10) corresponding to the main module (7). If the tilt angle of the sub-module (2) is not zero, the solution module (12) generates a sub-module leveling signal based on the tilt angle of the sub-module (2) and sends it to the six-degree-of-freedom adjustment platform (10) corresponding to the sub-module (2). Step 4) After receiving the leveling signal from the main module (7), the six-degree-of-freedom adjustment platform (10) corresponding to the main module (7) adjusts the tilt angle of the main module (7) through the second connecting rod (5); After receiving the leveling signal from the sub-module (2), the six-degree-of-freedom adjustment platform (10) corresponding to the sub-module (2) adjusts the tilt angle of the sub-module (2) through the first connecting rod (4); After adjustment, return to step 1).

3. The target relative pose measurement method based on a structural target according to claim 1, characterized in that: Direction vector After manually aligning the pose, the solution module (12) uses the distance between each sequence point in segment B and the 2D profilometer (3) to fit a straight line. The direction vector is then calculated. .

4. The target relative pose measurement method based on a structural target according to claim 1, characterized in that: The direction vector With direction vector Positional relationships are determined by direction vectors With direction vector The included angle Rz is shown below: （1） In the formula, Direction vector The length.

5. The target relative pose measurement method based on a structural target according to claim 4, characterized in that: After calculating the direction vector With the calibrated direction vector of segment B After determining the positional relationship, the plane EFHG is leveled with the plane of the main module (7) based on the tilt component Rx, tilt component Ry, and included angle Rz, thereby leveling the attitude of the main module (7) and the sub-module (2).

6. The target relative pose measurement method based on a structural target according to claim 1, characterized in that: In the relative pose (dx, dy, dz), the coordinate parameter dx is equal to the difference between the distance of segment B data and the distance of the calibrated data relative to the 2D profilometer; The coordinate parameter dy is equal to the distance between segment A and the calibrated line segment; the coordinate parameter dz is equal to the distance between segment C and the calibrated segment C.

7. The target relative pose measurement method based on a structural target according to claim 6, characterized in that: The coordinate parameters dx, dy, and dz are all calculated using the formula for the distance between two parallel lines.

8. The target relative pose measurement method based on a structural target according to claim 7, characterized in that: The coordinate parameter dx is shown below: （2） In the formula, is a coefficient.

9. The target relative pose measurement method based on a structural target according to claim 1, characterized in that, The pose of the non-cooperative target region is the pose Q of the center point of the docking pin (6), that is: （3） In the formula, R and T are the known rotation matrix and position matrix obtained from calibration; W is the pose of the centroid of the structural target (8).

10. The target relative pose measurement method based on a structural target according to claim 1, characterized in that, The conditions for achieving the docking assembly of the docking pin (6) and the docking hole (1) include: (v−c) / 2 + ∆1 = V(4) arctan[(v−c) / f] + Δ2= C(5) In the formula, c is the minimum diameter of the docking pin (6); v is the maximum diameter of the docking hole (1); f is the length of the docking pin (6); ∆1 and ∆2 are errors; V and C are the minimum thresholds for the position and attitude accuracy of successful docking.

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