The invention provides a space spinning non-cooperative target capturing method and system, and the method comprises the steps: carrying out the preprocessing of a current image, and adjusting the gray average value of the image to be within a preset range; collecting point cloud data of a target satellite in real time; performing point cloud matching on the point cloud data frame; state estimation: obtaining the final position and attitude of the target object; and the tail end speed and the joint angle are adjusted through visual servo control. The invention solves the technical problems of dependence on magnetic characteristics of a target material, susceptibility to interference of factors such as a magnetic field, strong radiation and high temperature difference, and low control precision at the initial stage of training.

    本发明提供空间自旋非合作目标抓捕方法及系统,方法包括:对当前图像预处理,将图像灰度均值调整至预设范围内;实时采集目标星的点云数据;对点云数据帧进行点云匹配;状态估计,获取目标物的最终位置和姿态;通过视觉伺服控制,调整末端速度以及关节角。本发明解决了依赖目标材料的磁性特性,易受磁场、强辐射、高温差等因素干扰以及训练初期控制精度低的技术问题。


    Access

    Download


    Export, share and cite



    Title :

    Space spinning non-cooperative target capturing method and system


    Additional title:

    空间自旋非合作目标抓捕方法及系统


    Contributors:
    LIANG BIN (author) / LIU HOUDE (author) / GU JINLIN (author) / GAO JUN (author) / LU ZONGSHENG (author) / LIANG LUNFEI (author) / ZHU XIAOJUN (author)

    Publication date :

    2025-04-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



    Spinning unfolding type space target rope net capturing system

    WANG BAN / ZHANG WEIZHE / DONG YUAN et al. | European Patent Office | 2023

    Free access

    Space non-cooperative target capturing module

    DAI YE / LIU JIAXU / HUANG YONGJIA et al. | European Patent Office | 2024

    Free access

    Spinning-nutation cooperative suppression method and system for space tumbling target

    DAI HONGHUA / CHEN HAO / ZUO CHENHAO et al. | European Patent Office | 2023

    Free access

    Self-adaptive bionic capturing mechanism and capturing method for space non-cooperative target

    WANG ZENG / CHEN CHANGRUI / YUE HENG et al. | European Patent Office | 2024

    Free access

    Rigid-flexible combined space target capturing system and space target capturing method

    ZHANG YIZHAI / JIAO JIAFU / HUANG PANFENG et al. | European Patent Office | 2024

    Free access