Autonomously identifying and capturing method of non-cooperative target of space robot

Abstract

The invention relates to an autonomously identifying and capturing method of a non-cooperative target of a space robot, comprising the main steps of (1) pose measurement based on stereoscopic vision, (2) autonomous path planning of the target capture of the space robot and (3) coordinative control of a space robot system, and the like. The pose measurement based on the stereoscopic vision is realized by processing images of a left camera and a right camera in real time, and computing the pose of a non-cooperative target star relative to a base and a tail end, wherein the processing comprises smoothing filtering, edge detection, linear extraction, and the like. The autonomous path planning of the target capture of the space robot comprises is realized by planning the motion tracks of joints in real time according to the pose measurement results. The coordinative control of the space robot system is realized by coordinately controlling mechanical arms and the base to realize the optimal control property of the whole system. In the autonomously identifying and capturing method, a self part of a spacecraft is directly used as an identifying and capturing object without installing a marker or a comer reflector on the target star or knowing the geometric dimension of the object, and the planned path can effectively avoid the singular point of dynamics and kinematics.

Description

technical field [0001] The invention relates to a method for autonomously identifying and capturing a non-cooperative target of a space robot, and belongs to the technical field of on-orbit service of space robots. Background technique [0002] With the advancement of technology, human activities are constantly expanding into space. According to statistics, the world launches an average of 80-130 satellites per year, but 2-3 satellites fail to enter the orbit correctly, and among the satellites correctly entered orbit, 5-10 satellites are in the early stages of life (the first 30 days after orbiting) ) is the failure, and the satellite failure caused by mechanical failure accounts for a considerable proportion (Tafazoli M.A study of on-orbit spacecraft failures[J].ActaAstronautica.2009,64:195-205). A typical example is my country's Xinnuo-2 satellite, which was launched on October 29, 2006. Although the satellite's orbit was successfully determined, and the satellite's meas...

AI Technical Summary

Problems solved by technology

This method is greatly affected by transmission delay and transmission reliability, and the whole system will be unstable when the delay is large; and because it requires the direct participation of operators, its "autonomy" is not high

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