用于舱段自动对接的单目视觉相对位姿测量方法及舱段对接方法
By installing target fixtures on the docking surfaces of the modules and using a monocular vision system to calculate the relative attitude and displacement of the modules, the problems of poor versatility and cumbersome operation in existing automatic docking methods have been solved, achieving efficient and accurate automatic docking of modules.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- XIAN AEROSPACE SAINENG AUTOMATION TECH CO LTD
- Filing Date
- 2024-08-21
- Publication Date
- 2026-07-17
AI Technical Summary
Existing automatic docking methods have poor versatility in positional relationship calibration, are cumbersome to operate, and traditional rigid tooling positioning methods are labor-intensive, inefficient, and have low accuracy, making it difficult to achieve efficient automated docking.
Two small target fixtures are installed on the docking surface of the modules. Images are acquired through a monocular vision system, the relative attitude and displacement of the modules are calculated, and the yaw angle, pitch angle and roll angle of the modules are adjusted by an attitude adjustment mechanism to achieve automatic docking.
It improves the flexibility and applicability of relative position and orientation measurement, simplifies the calibration process, enhances measurement accuracy and ease of operation, and enables efficient and automatic docking of compartments.
Smart Images
Figure CN119245504B_ABST