基于视觉检测的航天产品高精度对接系统研发  

High Precision Docking System Based on Visual and Tactile Fusion Detection Technology for Aerospace Products

作　　者：魏乐愚[1,2] 刘检华 崔金星[2] WEI Leyu;LIU Jianhua;CUI Jinxing(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;Beijing Xinghang Electromechanical Equipment Co.,Ltd.,Beijing 100074,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]北京星航机电装备有限公司,北京100074

出　　处：《北京理工大学学报》2025年第4期360-366,共7页Transactions of Beijing Institute of Technology

基　　金：国家重点研发计划项目(2022YFF1400307)。

摘　　要：大型复杂航天产品舱段对接过程难度大,装配效率低,人员需求多,限制总装制造能力提升,现有的对接系统存在工装设备复杂、成本昂贵、精度不足等问题.基于大型航天产品提出了一种基于视觉检测的高精度航天产品对接系统设计方案,该系统包括固定产品转运单元、对接部件夹持单元、部件轴线检测单元和部件销孔检测单元等,能实现产品的高精度自动对接.基于逆运动学算法,采用单个3D相机进行固定舱段和对接舱段的轴线识别,并采用高精度2D相机检测轴线旋转偏差,既保证安装定位精度,又可避免狭小空间布局条件下设备间干扰.通过试验验证,基于视觉检测的高精度舱段对接系统可提高航天器对接效率和对接精度,同时通过对对接过程数据实时监控,增强了航天器对接过程的安全性.The docking process of the large and complex aerospace product compartments is difficult with low assembly efficiency and high personnel requirements,limiting the improvement of the overall assembly manufacturing capabilities.To solve the problems existed in docking system,such as complex tooling equipment,high costs,and dissatisfactory accuracy,a high-precision aerospace product docking system based on visual inspection was proposed,including a fixed product transfer unit,a docking component clamping unit,a component axis detection unit,and a component pin hole detection unit,etc.,achieving high-precision automatic docking of products.Based on inverse kinematics algorithm,the mechanical system was arranged to realize fixed connection and robot collaborative cooperation,to achieve high-precision grasping and pose adjustment.A single 3D camera was used to simultaneously identify the axis of the fixed cabin section and the docking cabin section,and a high-precision 2D camera was used to detect the axis rotation deviation.The cabin docking scheme adopted in this article fully considered the adaptability of the system process to not only ensure the installation positioning accuracy but also avoid equipment interference under narrow space layout conditions.Experimental results show that the proposed cabin docking system can improve the efficiency and accuracy of spacecraft docking,and the safety of spacecraft docking process with real-time monitoring of docking process data.

关 键 词：舱段对接 轴线检测 视觉相机 逆运动学 

分 类 号：V446[航空宇航科学与技术—飞行器设计]