基于机器人与视觉引导的星载设备智能装配方法

doi:10.3901/JME.2018.23.063

机械工程学报 ›› 2018, Vol. 54 ›› Issue (23): 63-72.doi: 10.3901/JME.2018.23.063

基于机器人与视觉引导的星载设备智能装配方法

季旭全¹, 王君臣^1,2, 赵江地¹, 张晓会¹, 孙振¹

1. 北京航空航天大学机器人研究所北京 100191;
2. 北京航空航天大学生物医药工程高精尖创新中心北京 100083

收稿日期:2018-01-24 修回日期:2018-06-19 出版日期:2018-12-05 发布日期:2018-12-05
通讯作者: 王君臣(通信作者),男,1984年出生,博士,副教授。主要研究方向为机器人技术、医学图像计算、微创手术导航以及智能精密术中诊疗一体化技术。E-mail:wangjunchen@buaa.edu.cn
作者简介:季旭全,男,1992年出生。主要研究方向为机器视觉、机器人导航、医学图像计算。E-mail:xuquanji@buaa.edu.cn;赵江地,男,1993年出生,硕士研究生。主要研究方向为医用机器人、微创手术导航。E-mail:762485271@qq.com;张晓会,女,1990年出生,博士研究生。主要研究方向医学图像计算、微创手术导航。E-mail:zxh1990@buaa.edu.cn;孙振,男,1990年出生,博士研究生。主要方向机器人导航、fNIRs近红外光谱脑功能技术。E-mail:loongsteel@163.com

Intelligent Robotic Assembly Method of Spaceborne Equipment Based on Visual Guidance

JI Xuquan¹, WANG Junchen^1,2, ZHAO Jiangdi¹, ZHANG Xiaohui¹, SUN Zhen¹

1. Robotics Institute, Beihang University, Beijing 100191;
2. Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100083

Received:2018-01-24 Revised:2018-06-19 Online:2018-12-05 Published:2018-12-05

摘要/Abstract

摘要： 当前大型星载设备的安装采用人工操作机械臂的方式完成。由于星载设备昂贵，装配过程在半封闭非直视条件下进行，需要多人进行人工观察与口令调整，耗费数小时，装配效率低下。为提升装配效率，实现装配过程的智能化与精准化，提出一种基于机器人与视觉引导的星载设备智能装配方法。采用机器学习与双目视觉实现装配体之间的精确位置测量；通过机器人手眼标定完成视觉空间到机器人空间的运动映射；综合分析装配路径的干涉状况，对装配路径进行机器人运动规划；最后通过虚拟现实技术实现装配过程的可视化。整个装配过程可自动完成，装配时间缩短在若干分钟以内。进行了卫星与星载设备的模型装配试验，结果表明装配误差小于0.3 mm，验证了所提方法的有效性。

关键词: 机器人装配, 路径规划, 视觉引导, 星载设备, 虚拟现实

Abstract: At present, the installation of large spaceborne equipment is usually performed manually. That is because the equipment is expensive and fragile, in addition the assembly process is carried out in a semi-closed space and under non-direct vision condition. Assemble workers operate under human observation and oral instructions. Therefore, the process is usually laborious and inefficient. To overcome this difficulty, an intelligent robotic assembly method based on visual guidance is proposed. First, machine learning and binocular vision techniques are employed to achieve accurate position measurement between assemblies. Then, motion mapping between the vision space and robot space is calculated to transfer the required motion into the robot space by hand-eye calibration. Next, assembly path planning is performed by analyzing the interference condition between two assemblies. Finally, the assembly process is visualized using virtual reality techniques for safety monitoring. The whole assembly process can be completed automatically in less than several minutes. Assembly experiments using satellite and equipment models are carried out, and the assembly error is evaluated to be less than 0.3 mm, confirming the effectiveness of the proposed method.

Key words: robotic assembly, spaceborne equipment, trajectory planning, virtual reality, visual guidance

中图分类号:

TP249

季旭全, 王君臣, 赵江地, 张晓会, 孙振. 基于机器人与视觉引导的星载设备智能装配方法[J]. 机械工程学报, 2018, 54(23): 63-72.

JI Xuquan, WANG Junchen, ZHAO Jiangdi, ZHANG Xiaohui, SUN Zhen. Intelligent Robotic Assembly Method of Spaceborne Equipment Based on Visual Guidance[J]. Journal of Mechanical Engineering, 2018, 54(23): 63-72.

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基于机器人与视觉引导的星载设备智能装配方法

Intelligent Robotic Assembly Method of Spaceborne Equipment Based on Visual Guidance

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