基于机器视觉的大型舱段对接位姿测量方法

A Machine Vision-based Method for Measuring the Docking Pose of Large Cabin

随着航空航天领域对飞机、火箭等大型舱段类产品的装配精度和自动化程度要求不断提高,大型舱段的对接装配模式由原来“目视人喊手工推”的人工作业模式正逐渐向自动化、数字化、智能化方向发展。针对这一问题,设计了一套基于机器视觉的自动对接系统,提出了一种基于两套单目视觉的大型舱段相对位姿测量方法。系统通过两套单目视觉独立测量舱段表面靶标位姿,结合预先标定的靶标和舱段的位置关系,对两套单目视觉测量结果进行融合解算,得到最终的舱段对接姿态,引导六自由度调姿平台实现大型舱段的自动对接。实验结果表明,该系统的测量精度优于0.04 mm,对接精度优于0.3 mm,具有较强的应用价值。

With the increasing demands for assembly accuracy and automation of large cabin products such as aircraft and rocket in the aerospace field,the assembly modes of large cabin are moving from the original manual operation mode of“visual shouting and manual pushing”to the direction of automation,digitalization and intelligence.In this paper,to address this issue,an automatic docking system based on machine vision is designed,and a method for measuring the relative pose of large cabin based on two sets of monocular vision is proposed.The system uses two sets of monocular vision to independently measure the position and attitude of the target on the surface of the module,and combines the pre-calibrated position relationship between the target and the module,and integrates the two sets of monocular vision measurement results to calculate the final docking attitude of the module.The experiment results show that the measurement accuracy of the system is better than 0.04 mm,and the docking accuracy is better than 0.3 mm,which has strong application value.