Research On Space Docking Device For Replenishing Ammunition Based On Stereo Vision

The flexible guidance is a transmission device connecting the ammunition cans of artillery and ammunition-feeding car.The current process of connecting flexible guidance to artillery ammunition can requires multiple operators and the process is low automation.Based on the analysis of the requirements of the ammunition-feeding docking process of aircraft guns,this paper designs an automatic docking scheme,and studies the pose measurement scheme,pose adjustment mechanism scheme and servo drive scheme of the automatic docking process.Based on the analysis of stereo vision related theory,this paper completed calibration,correction and stereo matching of the stereo vision module.A simple feature target that is easy to distinguish and identify is designed.The target is matched by SURF-FLANN algorithm.The target center point is obtained by fitting the target contour,and the three-dimensional coordinates of the target are obtained by the parallax principle.The relative poses of the parts of the docking device are analyzed,and the method of solving the relative poses of the docking joints by using the three-dimensional coordinates of the three feature targets is given.At the same time,the scheme of the pose adjustment mechanism is given.The parallel mechanism is applied to the posture adjustment mechanism to provide two rotational degrees of freedom,coordinating with rotation and translation mechanism to realize the position adjustment of six degrees of freedom.The permanent magnet synchronous motor is selected as the drive of the mechanism motion.Based on the control principle of PMSM,the control drive unit of STM32 wiht IGBT is designed,and the three closed-loop controller of PMSM is explored.The engineering method of controller parameter design is given,and the simulation experiment is carried out at the same time.In order to verify the feasibility of the stereo vision-based docking scheme,this paper carried out the binocular stereo vision positioning accuracy experiment,the motor position servo experiment,and the docking precision experiment on the experimental platform.The experimental results show that it is feasible to apply the stereo vision technology to the docking of the ammunition-feeding system.The papaer has some reference significance for improving the automation and intelligence of the docking process.