基于视觉检测的航天产品高精度对接系统研发

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.