复杂环境下柔性机械臂的视觉定位技术

Visual Positioning Technology for Flexible Manipulator in Complex Environment

飞机在舰船上的保障效率直接关系其任务执行效率,自动化保障是提升保障效能的最有效手段,由于舰船摇摆、光线等复杂的环境因素,实现飞机自动保障存在图像识别困难、定位精度低等问题,针对以上问题,充分借鉴工业自动化生产线的成熟技术,以柔性机械臂作为执行机构,开展复杂环境下视觉定位技术研究,突破昼夜兼容的视觉定位技术、摇摆工况的伺服控制技术等关键技术。针对未来自动化装备,充分考虑战场使用环境,开展柔性机械臂的视觉定位技术研究,可作为未来舰船上飞机自动保障能力提升的技术基础。

The mission execution efficiency of aircraft on ship is directly related to its support efficiency.Automatic support is the most effective means to improve support efficiency.Due to ship sway,light and other complex environmental factors,there are some problems during the realization of aircraft automatic support,such as image recognition difficulty and low positioning accuracy.In view of the issues above,the mature technology of industrial automatic production line is fully utilized as a reference,the flexible manipulator is used as the actuator,research on visual positioning technology in complex environment is carried out,and key technologies such as day-night compatible visual positioning technology and servo control technology under swinging conditions are broken through.Aiming at the future automation equipment,after fully considering the battlefield environment,research on visual positioning technology for flexible manipulator is carried out,which can be used as the technical basis for automatic support capability enhancement for aircraft on ship in the future.