An automated star sensor detection device

Abstract

An automated star sensor testing device includes a moving unit, a control unit, a six-axis robot, and a testing unit. The moving unit is used for moving and fixing the entire testing device. The control unit is fixed to the moving unit and controls the star sensor testing operation. The six-axis robot is fixed to the upper surface of a mounting base. The head of the six-axis robot is equipped with an adapter ring, and the outer periphery of the adapter ring has a first extension and a second extension. The testing unit is mounted below the head of the six-axis robot and includes a six-dimensional force sensor mounted at the lower end of the adapter ring. A star simulator is located at the lower end of the six-dimensional force sensor. The testing unit also includes a laser binocular 3D camera mounted below the first extension and a 2D camera located at the lower end of the second extension. This invention can automatically replace manual testing of star sensors, making the testing more accurate and safer.

Description

Technical Field

[0001] This utility model relates to the field of automated testing technology, and in particular to an automated detection device for star sensors. Background Technology

[0002] As a core component of spacecraft attitude determination systems, star sensors achieve high-precision spatial orientation (with an accuracy down to the arcsecond level) by identifying stellar vectors in the celestial coordinate system. Their spatial orientation accuracy directly impacts the success or failure of space missions such as satellites and deep space probes. However, with the development of commercial spaceflight and the deepening of deep space exploration missions, star sensors are facing a triple challenge: adaptability to various scenarios, mass production testing, and on-orbit reliability verification.

[0003] Traditional star sensor testing methods rely on manual operation of star simulators, mechanical turntables, and data acquisition systems, which have problems such as long testing cycles, limited operating condition coverage, and significant human control factors. Therefore, there is an urgent need to promote the transformation of star sensor testing paradigms towards automation, intelligence, and safety through new technologies and methods. Utility Model Content

[0004] To address the aforementioned shortcomings, this invention provides an automated star sensor testing device that can automatically replace manual testing of star sensors, making the testing more accurate and safer.

[0005] In order to achieve the purpose of this utility model, the following technology is proposed to be adopted:

[0006] An automated star sensor detection device includes:

[0007] A movable unit, used for moving and fixing the entire detection device, including a mounting base;

[0008] The control unit, fixed to the moving unit, is used to control the detection operation of the star sensor;

[0009] A six-axis robot is fixed to the upper surface of the mounting base. The head of the six-axis robot is equipped with an adapter ring. The outer periphery of the adapter ring is provided with a first extension and a second extension in the circumferential direction.

[0010] The detection unit, mounted below the head of the six-axis robot, includes a six-dimensional force sensor mounted on the lower end of the adapter ring, a star simulator at the lower end of the six-dimensional force sensor, and a laser binocular 3D camera mounted on the lower end of the first extension, as well as a 2D camera located at the lower end of the second extension.

[0011] Furthermore, the mobile unit includes a chassis, with a base plate on the upper end of the chassis. Each of the four corners of the lower end face of the base plate is provided with an n-shaped frame. Rollers are installed between the two vertical parts of each n-shaped frame. A linear mechanism is vertically inserted through each of the four corners of the lower end face of the chassis. The output end of the linear mechanism is provided with a foot, and the mounting base is fixed to the upper end face of the base plate.

[0012] Furthermore, the control unit includes a control box fixed to the upper end of the base plate and located at one end of the mounting base. The end face of the control box opposite to the end where the mounting base is located includes a lower vertical surface and an upper inclined surface. The vertical surface has an access port equipped with an access door. The inclined surface has a touch screen and a pair of handles located on both sides of the touch screen. The inclined surface also has a reset button and a start button. The upper end of the control box has an emergency stop button and a 24V power supply.

[0013] Furthermore, an L-shaped mounting block is provided at the lower end of the first extension, and a connecting plate is fixed to one end face of the vertical part of the L-shaped mounting block.

[0014] Furthermore, the laser binocular 3D camera is mounted on the lower horizontal part of the L-shaped mounting block.

[0015] Furthermore, the detection unit also includes a ring light located at one end of the connecting plate, a side plate located at one end of the second extension, a 2D camera located on the side of the side plate facing the second extension, the front end of the lens of the 2D camera located on the inner circumference of the ring light, and one end of the side plate fixed to the end where the ring light is connected to the connecting plate.

[0016] The beneficial effects of this technical solution are as follows:

[0017] 1. By controlling the movement of the detection unit through a six-axis robot, it is possible to accurately simulate three-axis coupled motion and spatial interference environment.

[0018] 2. Reduce the impact of human factors in testing and predict the risk of collision between the detection unit and the star sensor in advance, making the test more accurate and safer. Attached Figure Description

[0019] Figure 1 An overall perspective view of an embodiment of this application is shown.

[0020] Figure 2 A perspective view of the moving unit according to an embodiment of this application is shown.

[0021] Figure 3 A perspective view of the control unit according to an embodiment of this application is shown.

[0022] Figure 4 An embodiment of this application is shown. Figure 1 Enlarged view of part A.

[0023] Figure 5 A partial perspective view of the six-axis robot and its detection unit according to an embodiment of this application is shown. Detailed Implementation

[0024] The technical solution of this application will be further described in detail below with reference to the accompanying drawings.

[0025] like Figures 1-5 The star sensor automated detection device shown includes a moving unit 1, a control unit 2, a six-axis robot 3, and a detection unit 4.

[0026] The mobile unit 1 includes a chassis 11, a base plate 12 on the upper end of the chassis 11, and n-shaped frames 13 at the four corners of the lower end face of the base plate 12. Rollers 14 are installed between the two vertical parts of each n-shaped frame 13. Linear mechanisms 15 are vertically inserted at the four corners of the lower end face of the chassis 11. In this embodiment, the linear mechanism 15 is a linear cylinder. The output end of the linear mechanism 15 is provided with a foot 16. A mounting base 17 is fixed on the upper end face of the base plate 12.

[0027] The control unit 2 is fixed to the mobile unit 1 and includes a control box 21 fixed to the upper end of the base plate 12 and located at one end of the mounting base 17. The end face of the control box 21 opposite to the end where the mounting base 17 is located includes a lower vertical surface and an upper inclined surface. The vertical surface has an inspection port equipped with an inspection door 22. The inclined surface has a touch screen 24 and a pair of handles 25 located on both sides of the touch screen 24. The inclined surface also has a reset button 26 and a start button 27. The upper end of the control box 21 has an emergency stop button 28 and a 24V power supply 29.

[0028] Specifically, the control box 21 contains a main power module and a computer host. The main power module is connected to the mains power through a power cord and a three-prong plug. The main power module supplies power to the computer host and the 24V power supply 29. The 24V power supply 29 supplies power to the six-axis robot 3 and the detection unit 4.

[0029] The six-axis robot 3 is fixed to the upper surface of the mounting base 17. The head of the six-axis robot 3 is equipped with an adapter ring 31. The outer periphery of the adapter ring 31 is provided with a first extension 32 and a second extension 35 along the circumferential direction. The lower end of the first extension 32 is provided with an L-shaped mounting block 33. A connecting plate 34 is also fixed to one end face of the vertical part of the L-shaped mounting block 33.

[0030] The detection unit 4 is mounted below the head of the six-axis robot 3. It includes a six-dimensional force sensor 41 mounted on the lower end of the adapter ring 31. A star simulator 42 is provided at the lower end of the six-dimensional force sensor 41. The detection unit 4 also includes a laser binocular 3D camera 43 mounted on the lower end of the horizontal part of the L-shaped mounting block 33, a ring light 45 provided at one end of the connecting plate 34, and a side plate 44 provided at one end of the second extension 35. A 2D camera 46 is provided on the side of the side plate 44 facing the second extension 35 at the lower end of the second extension 35. The front end of the lens 47 of the 2D camera 46 is located on the inner circumference of the ring light 45. One end of the side plate 44 is fixed to the end where the ring light 45 is connected to the connecting plate 34.

[0031] Work style:

[0032] The staff first held the handle 25 and moved the entire automated star sensor detection device to the front of the star sensor to be tested through the moving unit 1. The front refers to the area above the star sensor that needs to be simulated, which can be covered by the detection unit 4 mounted on the six-axis robot 3.

[0033] The device is activated, and the laser binocular 3D camera 43 acquires the reference three-dimensional point cloud data of the workpiece and sets this data as the standard comparison template. Meanwhile, the 2D camera 46 acquires the image of the current workspace as the reference template. The computer host performs high-precision image matching analysis on each new image acquired and the reference template, and calculates the pixel-level pose deviation of the target feature points.

[0034] By precisely measuring the time it takes for a laser beam to travel from emission to reflection back to the camera by an object using a laser binocular 3D camera 43, the 3D spatial coordinates (X, Y, Z) of each pixel in the scene are calculated, thereby obtaining high-precision 3D point cloud data of the target area. Crucially, this process also involves obtaining the distance between the star sensor and the star model along the camera's optical axis.

[0035] The real-time collected 3D point cloud data is matched and compared with the pre-set standard template point cloud data with high-precision 3D point cloud registration and analysis.

[0036] Using advanced point cloud matching algorithms (such as ICP - Iterative Closest Point or its variants), the precise spatial position and attitude relationship (6 degrees of freedom pose: X, Y, Z, Rx, Ry, Rz) of the star sensor component relative to the star model component in the current state is calculated and solved.

[0037] The calculated relative pose data of the star sensor-star simulator 42 is transmitted in real time to the control system of the six-axis robot 3.

[0038] Based on the received pose information, the six-axis robot 3 automatically plans and executes a precise motion trajectory, ultimately achieving high-precision and automated docking operation between the star simulator 42 and the star sensor.

[0039] In the above process, the six-dimensional force sensor 41 is used to monitor the force on the robot's end effector. If the force exceeds the set value, it is fed back to the robot, and the control system controls the robot to stop moving or reverse its movement to avoid damage to the star sensor. Combined with the anti-collision force algorithm, the force control resolution can reach 0.01N, and the response time is <10ms, which can effectively protect the star sensor from damage.

[0040] The above are only some of the embodiments listed in this application and are not intended to limit this application.

Claims

1. An automated star sensor detection device, characterized in that, include: The moving unit (1) is used for moving and fixing the entire detection device, including the mounting base (17). The control unit (2) is fixed on the moving unit (1) and is used to control the detection operation of the star sensor; A six-axis robot (3) is fixed to the upper surface of the mounting base (17). The head of the six-axis robot (3) is equipped with a transition ring (31). The outer periphery of the transition ring (31) is provided with a first extension (32) and a second extension (35) respectively. The detection unit (4) is mounted below the head of the six-axis robot (3) and includes a six-dimensional force sensor (41) mounted on the lower end of the adapter ring (31). The lower end of the six-dimensional force sensor (41) is provided with a star simulator (42). The detection unit (4) also includes a laser binocular 3D camera (43) mounted on the lower end of the first extension (32) and a 2D camera (46) located on the lower end of the second extension (35).

2. The automated star sensor detection device according to claim 1, characterized in that, The mobile unit (1) includes a chassis (11), a base plate (12) is provided on the upper end of the chassis (11), and n-shaped frames (13) are provided at the four corners of the lower end face of the base plate (12). Rollers (14) are installed between the two vertical parts of each n-shaped frame (13). A linear mechanism (15) is vertically inserted at the four corners of the lower end face of the chassis (11). The output end of the linear mechanism (15) is provided with a foot (16), and the mounting base (17) is fixed to the upper end face of the base plate (12).

3. The automated star sensor detection device according to claim 1, characterized in that, The control unit (2) includes a control box (21) fixed to the upper end of the base plate (12) and located at one end of the mounting base (17). The end face of the control box (21) opposite to the end of the mounting base (17) includes a vertical surface below and an inclined surface above. The vertical surface has an inspection port equipped with an inspection door (22). The inclined surface has a touch screen (24) and a pair of handles (25) on both sides of the touch screen (24). The inclined surface also has a reset button (26) and a start button (27). The upper end of the control box (21) has an emergency stop button (28) and a 24V power supply (29).

4. The automated star sensor detection device according to claim 1, characterized in that, The lower end of the first extension (32) is provided with an L-shaped mounting block (33), and a connecting plate (34) is fixed to one end face of the vertical part of the L-shaped mounting block (33).

5. The automated star sensor detection device according to claim 4, characterized in that, A laser binocular 3D camera (43) is mounted on the lower horizontal part of an L-shaped mounting block (33).

6. The automated star sensor detection device according to claim 4, characterized in that, The detection unit (4) also includes a ring light (45) located at one end of the connecting plate (34) and a side plate (44) located at one end of the second extension (35). The 2D camera is located on the side of the side plate (44) facing the second extension (35). The front end of the lens (47) of the 2D camera (46) is located on the inner periphery of the ring light (45). One end of the side plate (44) is fixed to the end where the ring light (45) is connected to the connecting plate (34).

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