Key techniques of on-orbit docking for LRU of SG-Ⅲ
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摘要: 初步分析了在建神光-Ⅲ主机装置下装模块空间对接过程,指出对中和碰撞问题是下装模块空间对接监测的关键技术。对中监测技术主要是将三维问题转换为二维问题,利用机器视觉扑捉特征点下装模块进行位置和姿态的判断。碰撞监测技术主要是利用下装模块装校过程发生碰撞必然产生力的作用的原理,监测碰撞点上各个方向作用力,间接反映碰撞发生程度,并将测量数据分析后反馈至对接平台执行,及时修正下装模块空间对接运动轨迹,实现了下装模块全过程的轻碰撞对接。Abstract: This essay analyzes the docking of line-replaceable unit (LRU) for some huge laser facilities, where centering and collision issues are pointed out as the key technologies for LRU docking monitoring. The centering technology mainly transforms the three-dimensional problem into two-dimensional one, adopting the characteristic of machine version capturing to analyze the position and posture of LRU. The collision monitoring technology mainly takes advantage of the principle that power is generated in the collision during the process of assembly and calibration. Monitoring force in all directions on the point of collision occurred, which indirectly reflects the degree of the collision, returning feedback to the docking platform after measurement data is analyzed, and amending the docking trajectory of the LRU in time can achieve the light collision docking during the full process of LRU.
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Key words:
- space docking /
- LRU /
- precision positioning /
- collision monitoring
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