China Mechanical Engineering ›› 2021, Vol. 32 ›› Issue (10): 1200-1204.DOI: 10.3969/j.issn.1004-132X.2021.10.008

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Research on Attitude Estimation of Rocket Propellant Filling Robots Based on Lidar#br#

LU Yu1;JIANG Zan2;HONG Gang2;DUN Xiangming1   

  1. 1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240
    2. 805th Institute of Shanghai Academy of Spaceflight Technology, Shanghai, 201108
  • Online:2021-05-25 Published:2021-06-10



  1. 1. 上海交通大学机械与动力工程学院,上海,200240
    2. 上海航天技术研究院第805研究所,上海,201108
  • 通讯作者: 顿向明(通信作者),男,1964年生,教授。研究方向为特种机器人设计。。
  • 作者简介:陆煜,男,1996年生,硕士研究生。研究方向为机器人定位跟踪。。

Abstract: To realize the demands of automatic docking in the filling processes of fuel propellant in the launch of carrier rockets, an attitude estimation algorithm was proposed based on single-line lidar. The two-dimensional lidar was rotated by a motor, and the three-dimensional point cloud information of the environment was collected. The target boards with special geometry shapes were identified by the proposed algorithm to determine the relative attiudes between the filling robots and the arrow valves, and the attitude estimation of the robots was realized based on artificial beacon. Finally, the reliability and accuracy of the proposed algorithm were verified by experiments.

Key words: propellant filling, lidar, artificial beacon, attitude estimation

摘要: 针对运载火箭发射中燃料推进剂加注环节中的自动对接需求,提出了一种基于单线激光雷达识别人工信标的姿态估计算法。通过电机带动二维激光雷达旋转,采集环境三维点云信息,通过所提算法从中识别出具有特殊几何形状的目标板来确定加注机器人与箭体活门之间的相对姿态,并实现机器人基于人工信标的姿态估计。最后通过实验验证了所提算法的可靠性与准确性。

关键词: 推进剂加注, 激光雷达, 人工信标, 姿态估计

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