Study On T He Application Of Camera Measurement Technology In The Automatic Docking Of Cabins

Module docking of spacecraft and underwater vehicles is a key link in its production and manufacturing.The quality of module docking determines its overall performance to a certain extent,while the achievement of automatic module docking is the development goal in the field of module assembly.The automatic docking process of the cabin segment needs high precision to ensure production quality,quick docking to improve efficiency and reduce input cost.During the automatic docking of the cabin,the precise measurement of the poses of the docked cabin is the basis of the attitude adjustment of the cabin.With the continuous development of machine vision technology,the monocular,binocular and even multi-ocular vision systems built by industrial cameras are more and more widely used in the robot assembly components,defect detection,target tracking,identification and other industrial environments.In the application of pin-hole docking in spacecraft cabin,the visual measurement technology can reflect its advantages of non-contact,fast and high precision.Under the scientific research background of the rapid measurement project of cabin pose in an institute,this paper aims to study and test the application of industrial camera measurement technology in the process of cabin automatic docking.The main research contents are divided into the following aspects:(1)The research and development of the overall scheme of relative angle measurement in the process of automatic docking.The relative angle of the cabin pose measured by industrial camera is determined by analyzing the target of the cabin pose during the automatic docking of the cabin.According to the requirements of the automatic assembly of the actual cabin,the general scheme of the application of the industrial camera measurement technology in the automatic docking of the cabin is proposed,including the monocular vision system measurement scheme and binocular stereo vision system measurement scheme.(2)Study on the application of monocular vision system in the automatic docking of cabin.The basic principles and hardware components of monocular vision system are analyzed.Design the algorithm of monocular measurement.In order to extract the image coordinates of the pinhole center,a single target determination and image processing method suitable for the docking scene of the cabin was proposed.The coordinate system registration of two monocular cameras was realized by using the registration method of mechanical assistance and genetic algorithm.Basic principle and specific implementation of each step are studied in detail;The application of monocular vision system in the simulation prototype of cabin pose measurement is studied,and the measurement accuracy of relative angle of cabin can reach less than 0.1 and achieve actual requirement.(3)Study on the application of binocular stereo vision system in automatic docking of cabin.The hardware composition and basic principle of binocular stereo vision system are analyzed;Design the algorithm of binocular measurement.Setting tank period of relative Angle measurement process,in view of the compartment docking scene automatically,through the Halcon platform to stereo binocular camera calibration and correction,according to the characteristics of the pin hole image brightness low noise more and the illumination characteristics of binocular vision system environment,put forward the appropriate stereo matching and image processing algorithm,so as to extract the center of the pin hole three-dimensional coordinates,through mechanical assistance and registration method based on genetic algorithm to realize the two binocular camera 3d coordinate system.The application of binocular stereo vision system in the simulation prototype of cabin attitude measurement is studied,and the measurement accuracy can reach less than 0.1 and achieve actual requirement;Compared with the measurement method of monocular vision system from three aspects: accuracy,view,application field and technological difficulty.(4)Application of industrial camera measurement in assembly platform of real cabin.The composition of the module assembly platform and the overall flow of module docking are analyzed and studied.The application of monocular vision system in actual assembly platform is described in detail,and the actual measurement accuracy of relative angle of cabin section was verified to be within 0.1,which laid a research foundation for realizing automatic assembly of cabin section.