机器视觉的火箭连接器自动对接检测技术研究  

Rocket Connector Auto-Docking System Detection Based on Machine Vision

作　　者：王健博[1] 陈雨 白焕旭[1] 张桃源[1] 郄晓斌 WANG Jian-bo;CHEN Yu;BAI Huan-xu;ZHANG Tao-yuan;QIE Xiao-bin(Beijing Institute of Space Launch Technology,Beijing 100076,China)

机构地区：[1]北京航天发射技术研究所,北京100076

出　　处：《现代防御技术》2018年第4期79-85,共7页Modern Defence Technology

摘　　要：针对运载火箭加注时连接器与加注活门自动对接随动过程进行研究,提出了基于动态方位检测对准技术的偏差测量系统。本方案首先测得连接器与加注活门的位置偏差值,将其定义为系统初值,采用光学摄像机获取合作靶标的图像,通过识别图像中靶标图像的方向及标志物的大小,快速提取靶标在相机平面的二维位姿,同时辅以激光测距传感器精确获取靶标与相机的距离信息。通过本测量方案即可实时获得当前时刻连接器与加注活门的偏差值。将其应用到自动对接系统中,结果表明,本方法满足火箭自动对接位移精度1 mm的技术要求。The automatic docking process of connector and rocket valve is studied,and a bias measurement system based on dynamic azimuth detection alignment technique is proposed. The deviation value of the connector with the fill valve is obtained and defined as the initial value. The image of the cooperative target is obtained by the optical camera. The camera pose in the two-dimensional plane is quickly extracted by identifying the direction of the target image and the marker size; and the laser sensors are used to accurately obtain the distance information between the target and the camera. The deviation value between the connector and the fill valve can be obtained in real time through this measurement system. It is applied to the automatic docking system,and the results show that the method meets the technical requirements of the automatic docking displacement accuracy 1 mm of the rocket.

关 键 词：运载火箭 自动对接 图像识别 目标提取 激光测距 位姿测量 

分 类 号：V475.1[航空宇航科学与技术—飞行器设计] TN911.73[电子电信—通信与信息系统]