基于激光雷达的火箭推进剂加注机器人姿态估计研究

Research on Attitude Estimation of Rocket PropellantFilling Robots Based on Lidar

针对运载火箭发射中燃料推进剂加注环节中的自动对接需求,提出了一种基于单线激光雷达识别人工信标的姿态估计算法。通过电机带动二维激光雷达旋转,采集环境三维点云信息,通过所提算法从中识别出具有特殊几何形状的目标板来确定加注机器人与箭体活门之间的相对姿态,并实现机器人基于人工信标的姿态估计。最后通过实验验证了所提算法的可靠性与准确性。

To realize the demands of automatic docking in the filling processes of fuel propellant in the launch of carrier rockets,an attitude estimation algorithm was proposed based on single-line lidar.The two-dimensional lidar was rotated by a motor,and the three-dimensional point cloud information of the environment was collected.The target boards with special geometry shapes were identified by the proposed algorithm to determine the relative attiudes between the filling robots and the arrow valves,and the attitude estimation of the robots was realized based on artificial beacon.Finally,the reliability and accuracy of the proposed algorithm were verified by experiments.