Three-dimensional visual modeling method for envelope space of docking mechanism

Abstract

The invention discloses a three-dimensional visual modeling method for a docking mechanism envelope space. The three-dimensional visual modeling method comprises the following steps: defining a characteristic coordinate system and a nominal position type of a docking mechanism; acquiring an envelope space boundary condition of the docking mechanism; simplifying geometric envelopes of the docking mechanism and a connecting assembly thereof, and establishing a virtual prototype standard envelope model of the docking mechanism; according to the virtual prototype standard envelope model of the docking mechanism and the boundary conditions of the envelope space, establishing a three-dimensional visual virtual prototype simulation model of the envelope space of the docking mechanism; and outputting a three-dimensional visual virtual prototype simulation model of the docking mechanism envelope space. According to the three-dimensional visual modeling method for the envelope space of the docking mechanism, the problems that in the prior art, a data description mode of the envelope space of the docking mechanism is not visual, and a visual modeling method for the envelope space of the docking mechanism is lacked are solved.

Description

Technical Field

[0001] This invention belongs to the field of docking mechanism technology, and in particular relates to a three-dimensional visualization modeling method for the envelope space of a docking mechanism. Background Technology

[0002] Conducting on-orbit servicing first requires the on-orbit capture and docking of the servicing spacecraft (active spacecraft) with the servicing spacecraft (target spacecraft). The docking mechanism, as a crucial execution system for establishing a rigid connection between spacecraft during on-orbit servicing, is a key component determining the success of the mission. Through on-orbit maneuvering of the active spacecraft relative to the target spacecraft, the passive end of the target spacecraft's docking mechanism gradually comes within the effective capture tolerance range of the active end of the active spacecraft's docking mechanism, providing initial conditions for capture and docking. The docking mechanism then gradually completes the capture, correction, and locking process between the active and passive ends.

[0003] In the final stage of space docking, the spacecraft's thrusters are shut down, resulting in a "rigid docking" relying on inertia and lacking the ability to anticipate unforeseen circumstances. During the capture and correction process of the docking mechanism, it is crucial to ensure that there is no spatial interference between the active spacecraft and the target spacecraft connected to both ends of the docking mechanism, and that sufficient distance margin is maintained. To ensure docking safety, analyzing the envelope space of the docking mechanism is essential. The envelope space of the docking mechanism is a quantitative description of its capture and correction capabilities, used to determine the possible docking positions and attitude ranges between the active end (including the active spacecraft) and the passive end (including the target spacecraft). The envelope space encompasses both any translational and rotational space within the initial docking conditions that allow for successful docking, and any translational and rotational space throughout the entire docking process, including capture, correction, and locking, under the set initial docking conditions.

[0004] One boundary condition of the docking mechanism's envelope space is a set of relative positions and attitudes between the active and passive ends of the docking mechanism. The set of multiple sets of attitude parameters constitutes the envelope space of the docking mechanism. The attitude parameters of the envelope space do not contain the geometric information of the spacecraft. When multiple sets of boundary condition attitude parameters of the docking mechanism's envelope space are given, it is not intuitive to determine whether interference occurs between the active spacecraft and the target spacecraft. The conventional verification method is to translate and rotate the active end of the docking mechanism and the active spacecraft in the 3D model design software according to the given attitude parameters, and observe the interference between the spacecraft one by one. This operation is cumbersome and inefficient. Summary of the Invention

[0005] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a three-dimensional visualization modeling method for the envelope space of docking mechanisms, which aims to solve the problems of the unintuitive data description method of the envelope space of docking mechanisms and the lack of a visualization modeling method for the envelope space of docking mechanisms in the prior art.

[0006] To address the aforementioned technical problems, this invention discloses a three-dimensional visualization modeling method for the envelope space of a docking mechanism, comprising: Define the characteristic coordinate system and nominal configuration of the docking mechanism; Obtain the envelope space boundary conditions of the docking mechanism; Simplify the geometric envelope of the docking mechanism and its connecting components, and establish a virtual prototype standard envelope model of the docking mechanism; Based on the standard envelope model of the virtual prototype of the docking mechanism and the boundary conditions of the envelope space, a three-dimensional visualization virtual prototype simulation model of the envelope space of the docking mechanism is established. Output a three-dimensional visualized virtual prototype simulation model of the envelope space of the docking mechanism.

[0007] In the above-mentioned three-dimensional visualization modeling method of the envelope space of the docking mechanism, the docking mechanism is a claw-type docking mechanism. The active end of the docking mechanism is fixed to the panel of aircraft A, and the passive end of the docking mechanism is fixed to the panel of aircraft B.

[0008] In the aforementioned three-dimensional visualization modeling method for the envelope space of the docking mechanism, the characteristic coordinate system of the docking mechanism includes: Passive docking coordinate system {BD}: Fixed to the passive end of the docking mechanism, the origin O of coordinate system {BD}. BD Located at the intersection of the central axes of all locking rod components, X BD The shaft, along the longitudinal axis of the driven end of the docking mechanism, points towards the mounting surface of the driven end of the docking mechanism. BD The axis is along the central axis of the passive end of the docking mechanism, specifically the locking rod component No. 1, pointing in the opposite direction to the locking rod component No. 1. BD Axis and Z BD Axis, X BD The axes form a right-handed rectangular coordinate system; Passive end mechanical installation coordinate system {B}: Fixed to the passive end of the docking mechanism, the origin O of coordinate system {B}. B Located at the geometric center of the passive end mounting surface of the docking mechanism, the three axes of coordinate system {B} are consistent with the three axes of coordinate system {BD}; Active docking coordinate system {ZD}: Fixed to the active end of the docking mechanism, with the origin O of coordinate system {ZD} as the reference point. ZD Located on the central axis of the mounting surface of the active end of the docking mechanism, with the active end of the docking mechanism and the passive end of the docking mechanism fully docked, the origin O of the coordinate system {ZD} is... ZD The origin O of coordinate system {BD}BD The positions coincide, and the three axes of coordinate system {ZD} are consistent with the three axes of coordinate system {BD}; The active end mechanical installation coordinate system {Z} is fixed to the active end of the docking mechanism, with the origin O of the coordinate system {Z}. Z Located at the geometric center of the active end mounting surface of the docking mechanism, the three axes of coordinate system {Z} are consistent with the three axes of coordinate system {ZD}; Among them, the pose of the active docking coordinate system relative to the passive docking coordinate system is used to accurately and quantitatively describe the spatial relative state relationship between the active end and the passive end of the docking mechanism.

[0009] In the above-mentioned three-dimensional visualization modeling method for the envelope space of the docking mechanism, the nominal configuration is: a standard configuration that describes the spatial relative state relationship between the active end and the passive end of the docking mechanism; under the nominal configuration, the pose of the active docking coordinate system relative to the passive docking coordinate system is zero.

[0010] In the above-mentioned three-dimensional visualization modeling method for the envelope space of the docking mechanism, the boundary conditions of the envelope space of the docking mechanism include: Static envelope boundary conditions: The set of limit poses of the active end relative to the passive end in the open state of the docking mechanism; among them, static envelope boundary conditions include: translational static envelope boundary conditions and rotational static envelope boundary conditions. Dynamic envelope boundary conditions: The set of states with the maximum position and attitude deviation of the active end relative to the passive end during the capture, correction and locking process of the docking mechanism under different initial docking conditions.

[0011] In the aforementioned 3D visualization modeling method for the envelope space of the docking mechanism, the static envelope boundary conditions of the docking mechanism are obtained as follows: the grippers of the docking mechanism are brought inward at a certain angle, reducing the open space of each set of open grippers to a constrained closed space, thus obtaining a constrained closed space docking mechanism model; in the constrained closed space docking mechanism model, the pose of the active end is adjusted according to preset rules, and it is determined whether there is interference between the passive end and the corresponding constrained closed space geometry of the active end; if there is no interference between the passive end and the corresponding constrained closed space geometry of the active end, it is determined that the current pose is not a static envelope boundary, and the static envelope boundary check continues along the current direction in sequence; if there is interference between the passive end and the corresponding constrained closed space geometry of the active end, it is determined that the current pose is a static envelope boundary, the current pose is recorded, and the static envelope boundary check of the next new direction begins in sequence; until the static envelope boundary check of all directions is completed, the set of recorded poses that have interfered is taken as the static envelope boundary conditions of the docking mechanism.

[0012] In the aforementioned three-dimensional visualization modeling method for the envelope space of the docking mechanism, the dynamic envelope boundary conditions of the docking mechanism are obtained as follows: A dynamic simulation model of the docking mechanism is established; typical simulation conditions of the docking mechanism are designed; based on the dynamic simulation model of the docking mechanism, docking dynamics simulations of the docking mechanism under various typical simulation conditions are carried out; the docking dynamics simulation results of the docking mechanism under various typical simulation conditions are post-processed, and a set of relative pose parameters is selected every 1 second from the pose-time change curves of the active docking coordinate system relative to the passive docking coordinate system to approximately characterize the dynamic envelope boundary conditions of the docking mechanism under the current typical simulation conditions; the set of dynamic envelope boundary conditions selected under all typical simulation conditions is taken as the dynamic envelope boundary conditions of the docking mechanism.

[0013] In the aforementioned three-dimensional visualization modeling method for the envelope space of the docking mechanism, the geometric envelope of the docking mechanism and its connecting components is simplified, and a standard envelope model of the virtual prototype of the docking mechanism is established. This includes: deleting components unrelated to the static envelope of the docking mechanism; merging the active end and spacecraft A into one active end component; merging the passive end and spacecraft B into one passive end component, resulting in a simplified three-dimensional model of the docking mechanism; importing the simplified three-dimensional model of the docking mechanism into virtual prototype simulation software to establish a virtual prototype simulation model of the docking mechanism; in the virtual prototype simulation model, according to the definition of the characteristic coordinate system, creating an active docking coordinate system and an active end mechanical installation coordinate system in the active end component; creating a passive docking coordinate system and a passive end mechanical installation coordinate system in the passive end component; adjusting the pose of the active end component according to the nominal configuration definition; constructing the spatial relative configuration state between the active end and the passive end of the docking mechanism; and establishing a standard envelope model of the virtual prototype of the docking mechanism.

[0014] In the above-mentioned three-dimensional visualization modeling method for the envelope space of the docking mechanism, a three-dimensional visualization virtual prototype simulation model of the envelope space of the docking mechanism is established based on the standard envelope model of the virtual prototype of the docking mechanism and the boundary conditions of the envelope space. This includes: using virtual prototype simulation software, based on the standard envelope model of the virtual prototype of the docking mechanism, constructing the spatial relative configuration states of the active end and the passive end of the docking mechanism in sequence according to the pose parameters corresponding to the boundary conditions of the envelope space, and superimposing all the geometric shapes of the active end to establish a three-dimensional visualization virtual prototype simulation model of the envelope space of the docking mechanism.

[0015] In the aforementioned three-dimensional visualization modeling method for the envelope space of the docking mechanism, outputting the three-dimensional visualization virtual prototype simulation model of the docking mechanism's envelope space includes: exporting the three-dimensional visualization virtual prototype simulation model of the docking mechanism's envelope space as a three-dimensional geometric format file; wherein, the types of the three-dimensional geometric format file include: Wavefront ( .obj), STEP ( .stp; .step), Shell( .shl), Parasolid .x_t).

[0016] The present invention has the following advantages: This invention discloses a three-dimensional visualization modeling method for the envelope space of a docking mechanism. Through search algorithms and dynamic simulation, the static and dynamic envelope space boundaries of the docking mechanism are calculated. Based on a simplified three-dimensional model of the docking mechanism and the aircraft, and with the help of virtual prototype simulation technology, a three-dimensional visualization model of the docking mechanism's envelope space is automatically generated. This solves the problem of the unintuitive way of describing the data of the docking mechanism's envelope space, visualizes the abstract data of the docking mechanism's envelope space, and the generated three-dimensional envelope space model can be directly used for docking mechanism layout optimization and safety design. It has the characteristics of high accuracy, good universality and strong engineering applicability, is easy to implement and has significant effects. Attached Figure Description

[0017] Figure 1 This is a flowchart of a three-dimensional visualization modeling method for the envelope space of a docking mechanism according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a claw-type docking mechanism in an embodiment of the present invention; Figure 3 This is a schematic diagram of the active end composition and characteristic coordinate system of a claw-type docking mechanism according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the passive end composition and characteristic coordinate system of a claw-type docking mechanism in an embodiment of the present invention; Figure 5 This is a schematic diagram of a constrained closed space docking mechanism for searching static envelope boundary conditions in an embodiment of the present invention; Figure 6 This is a schematic diagram of a typical static envelope boundary condition in an embodiment of the present invention; Figure 7 This is a schematic diagram of a simplified virtual prototype standard envelope model of a docking mechanism according to an embodiment of the present invention; Figure 8 This is a schematic diagram of a three-dimensional visualization static envelope space model of a docking mechanism corresponding to a static envelope space boundary condition in an embodiment of the present invention. Figure 9 This is a schematic diagram of a three-dimensional visualization static envelope space model of a docking mechanism corresponding to a static envelope space boundary condition transformation of +120° in an embodiment of the present invention. Figure 10 This is a schematic diagram of a three-dimensional visualized dynamic envelope space model of a docking mechanism corresponding to a dynamic envelope space boundary condition in an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments disclosed in the present invention will be described in further detail below with reference to the accompanying drawings.

[0019] Describing the envelope space using pose parameters is rather abstract. If this abstract envelope space data is visualized, explicitly including the geometric information of the docking mechanism and the spacecraft, and by overlaying all boundary condition pose parameters corresponding to the active spacecraft's characteristic configurations, a three-dimensional model of the envelope space can be established. This would make the physical meaning of the envelope space more intuitive and allow for more flexible and convenient optimization of the docking mechanism layout and safety design. Based on this, this invention discloses a three-dimensional visualization modeling method for the envelope space of a docking mechanism. Through search algorithms and dynamic simulation, the boundary conditions of the docking mechanism's envelope space are calculated. Using virtual prototype simulation technology, a three-dimensional visualization model of the docking mechanism's envelope space is generated.

[0020] Reference Figure 1 In this embodiment, the three-dimensional visualization modeling method for the envelope space of the docking mechanism includes: S1 defines the characteristic coordinate system and nominal configuration of the docking mechanism.

[0021] In this embodiment, the docking mechanism is a claw-type docking mechanism. The active end of the docking mechanism is fixedly connected to the deck of aircraft A, and the passive end of the docking mechanism is fixedly connected to the deck of aircraft B.

[0022] Taking a claw-type docking mechanism as an example, such as Figure 2 As shown, the gripper-type docking mechanism includes an active end and a passive end. The active end is as follows: Figure 3 As shown, it includes: 3 sets of gripper assemblies; each gripper assembly includes: a left gripper, a right gripper, and a V-block. The passive end is as follows... Figure 4 As shown, it includes: 3 locking rod components and 4 support rods. Each claw assembly and each locking rod component has 120° circumferential symmetry; the claw assembly is initially in the open state, and claw assemblies 1, 2, and 3 capture locking rod components 1, 2, and 3 respectively; the orientation relationship between the claw assembly and the locking rod component is uniquely matched.

[0023] like Figures 3-4 As shown, the characteristic coordinate system of the docking mechanism includes: Passive docking coordinate system {BD}: Fixed to the passive end of the docking mechanism, the origin O of coordinate system {BD}. BD Located at the intersection of the central axes of all locking rod components, X BD The shaft, along the longitudinal axis of the driven end of the docking mechanism, points towards the mounting surface of the driven end of the docking mechanism. BD The axis is along the central axis of the passive end of the docking mechanism, specifically the locking rod component No. 1, pointing in the opposite direction to the locking rod component No. 1.BD Axis and Z BD Axis, X BD The axes form a right-handed rectangular coordinate system.

[0024] Passive end mechanical installation coordinate system {B}: Fixed to the passive end of the docking mechanism, the origin O of coordinate system {B}. B Located at the geometric center of the passive end mounting surface of the docking mechanism, the three axes of coordinate system {B} are consistent with the three axes of coordinate system {BD}.

[0025] Active docking coordinate system {ZD}: Fixed to the active end of the docking mechanism, with the origin O of coordinate system {ZD} as the reference point. ZD Located on the central axis of the mounting surface of the active end of the docking mechanism, with the active end of the docking mechanism and the passive end of the docking mechanism fully docked, the origin O of the coordinate system {ZD} is... ZD The origin O of coordinate system {BD} BD The positions coincide, and the three axes of coordinate system {ZD} are consistent with the three axes of coordinate system {BD}.

[0026] The active end mechanical installation coordinate system {Z} is fixed to the active end of the docking mechanism, with the origin O of the coordinate system {Z}. Z Located at the geometric center of the active end mounting surface of the docking mechanism, the three axes of coordinate system {Z} are consistent with the three axes of coordinate system {ZD}.

[0027] Among them, the pose of the active docking coordinate system relative to the passive docking coordinate system is used to accurately and quantitatively describe the spatial relative state relationship between the active end and the passive end of the docking mechanism.

[0028] Define a nominal configuration as a standard configuration to describe the spatial relative state relationship between the active and passive ends of the docking mechanism; under the nominal configuration, the pose of the active docking coordinate system relative to the passive docking coordinate system is zero.

[0029] S2, obtain the envelope space boundary conditions of the docking mechanism.

[0030] In this embodiment, the boundary conditions of the docking mechanism's envelope space include: static envelope boundary conditions and dynamic envelope boundary conditions. The static envelope boundary conditions refer to the set of limit poses of the active end relative to the passive end in the open state of the docking mechanism. The dynamic envelope boundary conditions refer to the set of states with the maximum position and attitude deviation of the active end relative to the passive end during the capture, correction, and locking processes of the docking mechanism under different initial docking conditions.

[0031] Static envelope boundary conditions can be obtained in two ways: Method 1, by using a static envelope boundary condition search algorithm to obtain the static envelope boundary conditions; Method 2, by using a finite trial and error method to roughly select a set of extreme poses with large pose deviations between the active end and the passive end, as the static envelope boundary conditions.

[0032] For Method 1, the static envelope boundary conditions are obtained through a static envelope boundary condition search algorithm. The specific implementation process is as follows: (1) The grippers of the docking mechanism are brought inward at a certain angle, reducing the open space of each set of open grippers to a constrained closed space, thus obtaining a constrained closed space docking mechanism model. Continuing with the above... Figure 2 Taking the claw-type docking mechanism shown as an example, the three sets of claws are brought inward at a certain angle, reducing the open space of the three sets of open claws to three sets of constrained closed spaces (left claw, right claw, and V-block), as shown. Figure 5 As shown.

[0033] (2) Design a static envelope boundary condition search algorithm, in Figure 5 In the constrained closed space docking mechanism model shown, the pose of the active end is adjusted according to preset rules, and it is determined whether there is interference between the passive end and the corresponding constrained closed space geometry of the active end. If there is no interference between the passive end and the corresponding constrained closed space geometry of the active end, the current pose is determined not to be a static envelope boundary, and the static envelope boundary check continues along the current direction in sequence. If there is interference between the passive end and the corresponding constrained closed space geometry of the active end, the current pose is determined to be a static envelope boundary, the current pose is recorded, and the static envelope boundary check of the next new direction begins in sequence. This continues until the static envelope boundary check of all directions is completed, and the set of poses with interference is recorded as the static envelope boundary condition of the docking mechanism.

[0034] Static envelope boundary conditions mainly include translational static envelope boundary conditions and rotational static envelope boundary conditions. The corresponding static envelope boundary condition search algorithms include translational static envelope boundary condition search algorithms and rotational static envelope boundary condition search algorithms. For ease of description, the three-axis position and three-axis attitude of the active docking coordinate system relative to the passive docking coordinate system can be represented by a set of pose parameters: P=[dx,dy,dz,rx,ry,rz]; then: The specific steps of the translational static envelope boundary condition search algorithm are as follows: Determine the lower boundary X of the position of the active docking coordinate system relative to the passive docking coordinate system along the X-axis. min and the upper boundary X of the position max ; at the lower boundary X of the position min and the upper boundary X of the position max Take several nodes between them, denoted as X i For node X iAt this point, set the position dy to zero and all attitude angles to zero, and determine the lower boundary Z of the active docking coordinate system relative to the passive docking coordinate system along the Z-axis. i_min and the upper boundary Z of the position i_max For node X i At this point, setting position dz to zero and all attitude angles to zero, determine the lower boundary Y of the active docking coordinate system relative to the passive docking coordinate system along the Y-axis. i_min and the upper boundary Y of the position i_max Traverse all nodes X i , will each node X i The complete set of poses of the corresponding active docking coordinate system relative to the passive docking coordinate system [X] i ,0,Z i_min ,0,0,0]、[X i ,0,Z ij_max ,0,0,0]、[X i ,Y i_min ,0,0,0,0]、[X i ,Y i_max ,0,0,0,0], serves as the translational static envelope boundary condition.

[0035] The specific steps of the rotational static envelope boundary condition algorithm are as follows: Based on the translational static envelope boundary condition algorithm, for node X... i Let the position dy be zero, and the lower boundary Z of the position be... i_min and the upper boundary Z of the position i_max Take several nodes between them, denoted as Z. k Set the attitude angles ry and rz to zero, and determine the lower boundary R of the rotation angle of the active docking coordinate system relative to the passive docking coordinate system around the X-axis. Xik_min and the upper boundary R of the corner Xik_max Set attitude angles rx and rz to zero, and determine the lower boundary R of the rotation angle around the Y-axis. Yik_min and the upper boundary R of the corner Yik_max Set the attitude angles rx and ry to zero, and determine the lower boundary R of the rotation angle around the Z-axis. Zik_min and the upper boundary R of the corner Zik_max For node X i At position dz, let the position be zero, and at the lower boundary Y i_min and the upper boundary Y of the position i_max Select several nodes, denoted as Yj; set the attitude angles ry and rz to zero, and determine the lower boundary R of the rotation angle of the active docking coordinate system relative to the passive docking coordinate system around the X-axis. Xij_min and the upper boundary R of the corner Xij_max Set attitude angles rx and rz to zero, and determine the lower boundary R of the rotation angle around the Y-axis. Yij_min and the upper boundary R of the cornerYij_max Set the attitude angles rx and ry to zero, and determine the lower boundary R of the rotation angle around the Z-axis. Zij_min and the upper boundary R Zij_max Traverse all nodes X i , will each node X i The complete set of poses of the corresponding active docking coordinate system relative to the passive docking coordinate system [X] i ,0,Z k , R Xik_min , 0, 0]、[X i , 0, Z k , R Xik_max , 0, 0]、[X i , 0, Z k , 0, R Yik_min , 0]、[X i , 0,Z k , 0, R Yik_max , 0]、[X i , 0, Z k , 0, 0, R Zik_min ]、[X i , 0, Z k , 0, 0, R Zik_max ]、[X i , Yj,0, R Xij_min , 0, 0]、[X i , Yj, 0, R Xij_max , 0, 0]、[X i , Yj, 0, 0, R Yij_min , 0]、[X i , Yj,0, 0, R Yij_max , 0]、[X i , Yj, 0, 0, 0, R Zij_min ]、[X i , Yj, 0, 0, 0, R Zij_max ], which serves as the static envelope boundary condition for rotation.

[0036] The static envelope boundary conditions calculated by the above algorithm amount to hundreds of sets. Four typical static envelope boundary conditions are given in Table 1 below, and the corresponding docking mechanism relative configurations are as follows: Figure 6 As shown.

[0037]

[0038] Table 1. Examples of Four Typical Static Envelope Boundary Conditions Furthermore, the dynamic envelope boundary conditions are obtained as follows: A dynamic simulation model of the docking mechanism is established; typical simulation conditions of the docking mechanism are designed; based on the dynamic simulation model of the docking mechanism, docking dynamics simulations of the docking mechanism under each typical simulation condition are carried out; the docking dynamics simulation results of the docking mechanism under each typical simulation condition are post-processed, and a set of relative pose parameters is selected every 1 second from the pose-time change curves of the active docking coordinate system relative to the passive docking coordinate system to approximately characterize the dynamic envelope boundary conditions of the docking mechanism under the current typical simulation condition; the set of dynamic envelope boundary conditions selected under all typical simulation conditions is taken as the dynamic envelope boundary conditions of the docking mechanism.

[0039] For example, the typical simulation conditions of the designed docking mechanism are shown in Table 2 below, where D01~D09 are the initial conditions for unidirectional limit docking, and Z10~Z16 are the initial conditions for combined docking.

[0040] Table 2. Typical simulation conditions of the designed docking mechanism The simulation time for the docking process is set to 10 seconds, and the simulation step size is 0.01 seconds. The simulation results of each typical simulation condition are post-processed. A set of relative pose parameters is selected every 1 second. Then, 10 sets of pose parameters are used to approximate the dynamic envelope boundary of the docking mechanism during the docking process for each docking condition.

[0041] S3 simplifies the geometric envelope of the docking mechanism and its connecting components, and establishes a standard envelope model of the virtual prototype (ADAMS) of the docking mechanism.

[0042] In this embodiment, in the 3D model design software, components unrelated to the static envelope of the docking mechanism are deleted; the active end, passive end, and aircraft A and B connected to the active and passive ends are simplified. These geometric features related to the static envelope and structural environment characteristics of the docking mechanism are simplified by merging the active end and aircraft A into one active end part, and merging the passive end and aircraft B into one passive end part, in order to reduce the number of parts in the model and reduce the complexity of the geometric contour; thus, a simplified 3D model of the docking mechanism is obtained. The simplified 3D model of the docking mechanism is imported into the virtual prototype simulation software (ADAMS simulation software) to establish a virtual prototype simulation model (ADAMS simulation model) of the docking mechanism; in the virtual prototype simulation model, according to the feature coordinate system definition, an active docking coordinate system and an active end mechanical installation coordinate system are created in the active end part, and a passive docking coordinate system and a passive end mechanical installation coordinate system are created in the passive end part; according to the nominal configuration definition, the pose of the active end part is adjusted to construct the spatial relative configuration state between the active end and the passive end of the docking mechanism, and a virtual prototype standard envelope model of the docking mechanism is established, such as... Figure 7As shown, the active end component includes a simplified envelope of the active end of the aircraft A and the docking mechanism, while the passive end component includes a simplified envelope of the passive end of the docking mechanism.

[0043] S4. Based on the standard envelope model of the virtual prototype of the docking mechanism and the boundary conditions of the envelope space, establish a three-dimensional visualization virtual prototype simulation model of the envelope space of the docking mechanism.

[0044] In this embodiment, virtual prototype simulation software can be applied. Based on the standard envelope model of the docking mechanism, the spatial relative configuration states of the active and passive ends of the docking mechanism are constructed sequentially according to the pose parameters corresponding to the boundary conditions of the envelope space. All geometric shapes of the active ends are then superimposed to establish a three-dimensional visualized virtual prototype simulation model of the docking mechanism's envelope space. Specifically: Assumptions: In the standard envelope model of the virtual prototype of the docking mechanism: the active end part is PART_Z, which contains the following elements: active docking coordinate system MARKER_ZD, active end mechanical mounting coordinate system MARKER_Z, active end geometric model BaoLuo_Z, and active end geometric reference coordinate system MARKER_BaoLuo_Z; the passive end part is PART_B, which contains the following elements: passive docking coordinate system MARKER_BD, passive end mechanical mounting coordinate system MARKER_B, passive end geometric model BaoLuo_B, and passive end geometric reference coordinate system MARKER_BaoLuo_B; assuming there are N sets of pose parameters used to describe the boundary conditions of the envelope space of the docking mechanism, and the pose parameter set number is denoted as m; then, the specific process of establishing the standard envelope model of the virtual prototype of the docking mechanism using virtual prototype simulation software is as follows: S41: Creates the command script file aview.cmd for ADAMS.

[0045] S42: Initialization: Let m=1, or update the pose parameters of the envelope space boundary conditions Pm=[dx,dy,dz,rx,ry,rz].

[0046] S43: Write the following scripts sequentially in the aview.cmd file: Copy the active end geometric model BaoLuo_Z and rename it to BaoLuo_Zm; Copy the active end geometric reference coordinate system MARKER_BaoLuo_Z and rename it to MARKER_BaoLuo_Zm; Copy the active docking coordinate system MARKER_ZD and rename it to MARKER_ZDm; Create a new group GROUP_Copy and add the three copied elements BaoLuo_Zm, MARKER_BaoLuo_Zm, and MARKER_ZDm to the group GROUP_Copy; According to the pose parameter Pm, perform translation and rotation transformation operations on the GROUP_Copy group, with the transformation reference coordinate system being MARKER_ZDm, and construct the spatial relative geometric features between the active and passive ends of the docking mechanism corresponding to the pose parameter Pm. Delete element MARKER_ZDm; Delete group GROUP_Copy.

[0047] S44: Update the pose parameter group number of the envelope space boundary conditions, m=m+1.

[0048] S45: If m>N, proceed to step S46; otherwise, proceed to step S42.

[0049] S46: Command script file aview.cmd has been written.

[0050] S47: Import the generated command script file aview.cmd into the ADAMS standard envelope model.

[0051] S46: By executing steps S41~S47, all active end geometries are automatically superimposed to generate a three-dimensional visualized virtual prototype simulation model of the docking mechanism envelope space, which corresponds to all pose parameters of the envelope space boundary conditions.

[0052] It should be noted that the virtual prototype simulation model is the ADAMS simulation model; the creation and writing of the command script file aview.cmd is achieved through a Matlab program.

[0053] S5 outputs a three-dimensional visualized virtual prototype simulation model of the docking mechanism's envelope space.

[0054] In this embodiment, the three-dimensional visualization virtual prototype simulation model of the docking mechanism's envelope space can be exported as a three-dimensional geometric format file. Specifically: in the ADAMS simulation software, using the passive end mechanical mounting coordinate system MARKER_B of the docking mechanism as the reference system, the passive end part PART_B and the geometrically superimposed active end part PART_Z are exported as a three-dimensional geometric format file. The type of the three-dimensional geometric format file includes, but is not limited to, Wavefront (…). .obj), STEP ( .stp; .step), Shell( .shl), Parasolid The .x_t file can be imported and used by other 3D model design software.

[0055] In this embodiment, the static envelope space boundary conditions obtained in step S2 are processed into a three-dimensional visualized static envelope space model of the docking mechanism, such as... Figure 8 As shown. Continuing with the above... Figure 2 Taking the claw-type docking mechanism shown as an example, since the three sets of claws are symmetrically distributed at 120 degrees, the calculated static envelope space boundary conditions can be transformed by ±120° around the X-axis. After transforming the static envelope boundary conditions by +120°, a three-dimensional visualized static envelope space model of the docking mechanism is obtained, as shown below. Figure 9 As shown. The dynamic envelope space boundary conditions obtained in step S2 are processed into a three-dimensional visualized dynamic envelope space model of the docking mechanism, as shown. Figure 10 As shown. Assembly Figure 9 The 3D visualized static envelope space model shown after +120° transformation is... Figure 10 The three-dimensional visualization dynamic envelope space model shown is obtained by moving the passive end mechanical installation coordinate system MARKER_B of the docking mechanism of each envelope space model to coincide, and superimposing them to obtain a complete three-dimensional visualization virtual prototype simulation model of the docking mechanism envelope space.

[0056] In summary, this invention discloses a three-dimensional visualization modeling method for the envelope space of a docking mechanism. Through search algorithms and dynamic simulation, the static and dynamic envelope space boundaries of the docking mechanism are calculated. Based on simplified three-dimensional models of the docking mechanism and the aircraft, and utilizing virtual prototype simulation technology, a three-dimensional visualization virtual prototype simulation model of the docking mechanism's envelope space is automatically generated. Compared to general methods of describing docking mechanism envelope space data, the method proposed in this invention visualizes the abstract envelope space data, making the envelope space expression more intuitive. The generated three-dimensional envelope space model can be directly used for docking mechanism layout optimization and safety design, featuring high accuracy, good universality, and strong engineering applicability. It is easy to implement and yields significant results.

[0057] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

[0058] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A three-dimensional visualization modeling method for the envelope space of a docking mechanism, characterized in that, include: Define the characteristic coordinate system and nominal configuration of the docking mechanism; Obtain the envelope space boundary conditions of the docking mechanism; Simplify the geometric envelope of the docking mechanism and its connecting components, and establish a virtual prototype standard envelope model of the docking mechanism; Based on the standard envelope model of the virtual prototype of the docking mechanism and the boundary conditions of the envelope space, a three-dimensional visualization virtual prototype simulation model of the envelope space of the docking mechanism is established. Output a three-dimensional visualized virtual prototype simulation model of the envelope space of the docking mechanism.

2. The three-dimensional visualization modeling method for the envelope space of the docking mechanism according to claim 1, characterized in that, The docking mechanism is a claw-type docking mechanism. The active end of the docking mechanism is fixedly connected to the panel of aircraft A, and the passive end of the docking mechanism is fixedly connected to the panel of aircraft B.

3. The three-dimensional visualization modeling method for the envelope space of the docking mechanism according to claim 2, characterized in that, The characteristic coordinate system of the docking mechanism includes: Passive docking coordinate system {BD}: Fixed to the passive end of the docking mechanism, the origin O of coordinate system {BD}. BD Located at the intersection of the central axes of all locking rod components, X BD The shaft, along the longitudinal axis of the driven end of the docking mechanism, points towards the mounting surface of the driven end of the docking mechanism. BD The axis is along the central axis of the passive end of the docking mechanism, specifically the locking rod component No. 1, pointing in the opposite direction to the locking rod component No.

1. BD Axis and Z BD Axis, X BD The axes form a right-handed rectangular coordinate system; Passive end mechanical installation coordinate system {B}: Fixed to the passive end of the docking mechanism, the origin O of coordinate system {B}. B Located at the geometric center of the passive end mounting surface of the docking mechanism, the three axes of coordinate system {B} are consistent with the three axes of coordinate system {BD}; Active docking coordinate system {ZD}: Fixed to the active end of the docking mechanism, with the origin O of coordinate system {ZD} as the reference point. ZD Located on the central axis of the mounting surface of the active end of the docking mechanism, with the active end of the docking mechanism and the passive end of the docking mechanism fully docked, the origin O of the coordinate system {ZD} is... ZD The origin O of coordinate system {BD} BD The positions coincide, and the three axes of coordinate system {ZD} are consistent with the three axes of coordinate system {BD}; The active end mechanical installation coordinate system {Z} is fixed to the active end of the docking mechanism, with the origin O of the coordinate system {Z}. Z Located at the geometric center of the active end mounting surface of the docking mechanism, the three axes of coordinate system {Z} are consistent with the three axes of coordinate system {ZD}; Among them, the pose of the active docking coordinate system relative to the passive docking coordinate system is used to accurately and quantitatively describe the spatial relative state relationship between the active end and the passive end of the docking mechanism.

4. The three-dimensional visualization modeling method for the envelope space of the docking mechanism according to claim 3, characterized in that, The nominal configuration is a standard configuration that describes the spatial relative state relationship between the active and passive ends of the docking mechanism. Under the nominal configuration, the pose of the active docking coordinate system relative to the passive docking coordinate system is zero.

5. The three-dimensional visualization modeling method for the envelope space of the docking mechanism according to claim 1, characterized in that, The envelope space boundary conditions of the docking mechanism include: Static envelope boundary conditions: The set of limit poses of the active end relative to the passive end in the open state of the docking mechanism; among them, static envelope boundary conditions include: translational static envelope boundary conditions and rotational static envelope boundary conditions. Dynamic envelope boundary conditions: The set of states with the maximum position and attitude deviation of the active end relative to the passive end during the capture, correction and locking process of the docking mechanism under different initial docking conditions.

6. The three-dimensional visualization modeling method for the envelope space of the docking mechanism according to claim 5, characterized in that, The static envelope boundary conditions of the docking mechanism are obtained as follows: the grippers of the docking mechanism are brought inward at a certain angle, so that the open space of each set of open grippers is reduced to a constrained closed space, thus obtaining a constrained closed space docking mechanism model; in the constrained closed space docking mechanism model, the pose of the active end is adjusted according to preset rules, and it is determined whether there is interference between the geometry of the constrained closed space corresponding to the passive end and the active end. If there is no interference between the closed spatial geometry of the corresponding constraints of the passive end and the active end, the current pose is determined to be not a static envelope boundary, and the static envelope boundary check continues along the current direction in sequence; if there is interference between the closed spatial geometry of the corresponding constraints of the passive end and the active end, the current pose is determined to be a static envelope boundary, the current pose is recorded, and the static envelope boundary check for the next new direction begins in sequence; until the static envelope boundary check for all directions is completed, the set of poses with interference recorded is used as the static envelope boundary condition of the docking mechanism.

7. The three-dimensional visualization modeling method for the envelope space of a docking mechanism according to claim 5, characterized in that, The dynamic envelope boundary conditions of the docking mechanism are obtained through the following methods: establishing a dynamic simulation model of the docking mechanism; designing typical simulation conditions of the docking mechanism; and conducting docking dynamic simulations of the docking mechanism under various typical simulation conditions based on the dynamic simulation model of the docking mechanism. Post-processing is performed on the docking dynamics simulation results of the docking mechanism under various typical simulation conditions. From the pose-time change curves of the active docking coordinate system relative to the passive docking coordinate system, a set of relative pose parameters is selected every 1 second to approximate the dynamic envelope boundary conditions of the docking mechanism under the current typical simulation conditions. The set of dynamic envelope boundary conditions under all selected typical simulation conditions is taken as the dynamic envelope boundary conditions of the docking mechanism.

8. The three-dimensional visualization modeling method for the envelope space of the docking mechanism according to claim 3, characterized in that, The geometric envelope of the docking mechanism and its connecting components is simplified, and a standard envelope model of the virtual prototype of the docking mechanism is established. This includes: deleting components unrelated to the static envelope of the docking mechanism; merging the active end and spacecraft A into one active end component; merging the passive end and spacecraft B into one passive end component, resulting in a simplified 3D model of the docking mechanism; importing the simplified 3D model of the docking mechanism into virtual prototype simulation software to establish a virtual prototype simulation model of the docking mechanism; in the virtual prototype simulation model, according to the definition of the characteristic coordinate system, creating an active docking coordinate system and an active end mechanical installation coordinate system in the active end component; creating a passive docking coordinate system and a passive end mechanical installation coordinate system in the passive end component; adjusting the pose of the active end component according to the nominal configuration definition to construct the spatial relative configuration state between the active end and the passive end of the docking mechanism, and establishing a standard envelope model of the virtual prototype of the docking mechanism.

9. The three-dimensional visualization modeling method for the envelope space of a docking mechanism according to claim 1, characterized in that, Based on the standard envelope model and boundary conditions of the virtual prototype of the docking mechanism, a three-dimensional visualization virtual prototype simulation model of the docking mechanism's envelope space is established. This includes: using virtual prototype simulation software, based on the standard envelope model of the virtual prototype of the docking mechanism, constructing the spatial relative configuration states of the active and passive ends of the docking mechanism in sequence according to the pose parameters corresponding to the boundary conditions of the envelope space, and superimposing all the geometric shapes of the active end to establish a three-dimensional visualization virtual prototype simulation model of the docking mechanism's envelope space.

10. The three-dimensional visualization modeling method for the envelope space of the docking mechanism according to claim 1, characterized in that, Outputting a 3D visualized virtual prototype simulation model of the docking mechanism's envelope space includes: exporting the 3D visualized virtual prototype simulation model of the docking mechanism's envelope space as a 3D geometric format file; wherein, the types of 3D geometric format files include: Wavefront ( .obj), STEP ( .stp; .step), Shell( .shl), Parasolid .x_t).

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