基于双目视觉的伺服控制半物理仿真系统设计

Design of Semi-physical Simulation System for Binocular Vision Servo Control

在不具备真实目标条件下,为了验证捕获系统捕获目标卫星过程中基于双目视觉的伺服控制技术,采用三维图形库OpenGL开发了目标模拟器,研究了针对三角形帆板支架的视觉测量技术,规划了捕获系统的运动轨迹,直观演示了视觉伺服控制过程,设计了一套视觉伺服控制半物理仿真系统;仿真结果表明,目标模拟器能够生成仿真所需要的投影目标,双目视觉系统能够对投影目标进行精确的位姿测量,视景演示系统能够对视觉伺服的结果进行直观显示,仿真平台能够验证双目视觉伺服控制技术。

In order to verify the binocular vision servo control in gripping the target satellite without the real target by the capture system, a target simulator was developed based on OpenGL. The vision measurement of the triangular bracket of the sailboard was studied. The capture path was planned, and the vision servo control was demonstrated visually. A semi physical simulation system for vision servo control was designed. The simulation result indicates that the target can be simulated by the simulator; the position and attitude of the target can be measured accurately by the vision system; the result can be demonstrated visually by visual simulation system; the binocular vision servo control can be validated on the platform.