Measurement Method of Cabin Automatic Docking Based on 2D Laser Displacement Sensor

doi:10.3969/j.issn.1004-132X.2023.09.013

Abstract

Abstract: In view of the docking and assembly requirements of the cabins, a method for automatic docking measurement was proposed based on 2D laser displacement sensor in combination with the docking processes of the cabins. The displacement sensors detected the 2D contour deviation of the three points at the docking points of the two cabins, and calculated the pose of the cabins to be docked with 5 degrees of freedom except for the rotation angle; The positions of the flange gap in the cabins were calculated to obtain the rotation angle of the cabins to be docked. Finally, the results are fed back to the control system to drive the actuator to adjust the pose. The proposed method was verified by introducing error simulation and combining with docking experiments. The results show that the automatic docking method has high measurement accuracy and good docking effectiveness, which may meet the needs of cabin automatic docking, and improve the efficiency and stability of the automatic docking systems effectively.

Key words: cabin automatic docking, 2D laser displacement sensor, image processing, pose measurement

摘要： 针对舱段对接装配需求，结合舱段对接工艺过程,提出一种基于2D激光位移传感器的舱段自动对接测量方法。首先将待对接舱段调整至相距基准舱段约50 mm待装位，采用2D激光位移传感器检测两舱段对接处三个点位的2D轮廓偏差，计算得到待对接舱段除自转角外的5个自由度位姿；然后根据两舱段法兰端面上的豁口特征，通过扫描两个舱段法兰豁口位置，计算得到待对接舱段自转角；最后将结果反馈至控制系统，驱动执行机构进行位姿的调整。通过引入误差的仿真并结合对接实验对所提方法进行了验证，结果表明，所提方法测量精度高，对接效果良好，能够满足舱段自动对接需求，有效提高了自动对接系统的效率、稳定性和一致性。

关键词: 舱段自动对接, 2D激光位移传感器, 图像处理, 位姿测量

CLC Number:

TP242

SUN Luping, ZHANG Wenchang, WANG Zhihua, WANG Zhenwen, REN Zhimo, ZHANG Qian, . Measurement Method of Cabin Automatic Docking Based on 2D Laser Displacement Sensor[J]. China Mechanical Engineering, 2023, 34(09): 1120-1125,1133.

孙露萍, 张文昌, 王志华, 王振文, 任志墨, 张倩, . 基于2D激光位移传感器的舱段自动对接测量方法[J]. 中国机械工程, 2023, 34(09): 1120-1125,1133.

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