Design And Research On Automatic Docking System For Missile Loading Cartridge

With the development of computer,robot,military aviation and other technical fields,the assembly and production development goals of missiles,aircraft,rockets,space detectors and other aircraft gradually change to high-speed,integrated and intelligent direction.The loading efficiency of the missile is directly affected by the performance of the system,and the precise docking between the cartridge and the missile rail is an important part of the loading task.The traditional missile loading and docking equipment adopts the manual alignment method to adjust the position and orientation of the cartridge,so as to achieve the purpose of connecting the arc track docking frame and the cartridge.There is no automatic docking equipment,and the docking time is long.In order to shorten the loading cycle and liberate the manpower,the design and research of the automatic docking system of missile loading cartridge is carried out based on the computer vision measurement technology.Carry out the overall scheme design of the automatic docking system of the missile loading cartridge.The working process of the docking system is analyzed,and the docking accuracy of the system is analyzed based on the limit state of the cartridge.In this paper,a vision servo control method is used to detect the position and pose of the three cameras based on monocular vision,and the position and pose of the cartridge is adjusted by the local decoupled double support parallel mechanism.Based on the D-H method,the spatial coordinate system is established,and the inverse kinematics of each joint is solved by the position and attitude information.Carry out visual measurement and camera calibration research.In order to obtain the corresponding relationship between the image coordinates of the target and the world coordinates,to solve the position and orientation of the cartridge,to analyze the imaging principle of the camera,and to establish the perspective model of the camera.The calibration principle of Zhang's calibration method is analyzed.The camera is calibrated by MATLAB,and the parameter matrix of each camera is obtained.The target feature extraction and the shell position and attitude calculation are studied.The principle of RGB color space image segmentation is analyzed,and the segmentation threshold is selected by artificial experience selection method.The segmented image is extracted by Sobel operator.Two methods of center extraction,center of gravity method and Hough transform method,are analyzed through comparative experiments.The least square method is studied to fit the ellipse edge of the target,and an improved fitting algorithm is proposed.Through theoretical derivation,the position and attitude of the cartridge can be obtained by extracting parameters.The accuracy of the algorithm is detected by multi group pose image test.The design of the test platform for the automatic docking system of the missile loading cartridge is carried out.Based on the overall scheme of the system,the detailed design of mechanical unit and electrical unit is completed.Carry out the design and selection of mechanical mechanism and drive motor.Develop hardware circuit,write human-computer interface,image recognition and docking main control program.