CN104459260A - Intelligent mounting system and detection method for electric energy measuring instruments - Google Patents

Abstract

The invention discloses an intelligent mounting system for electric energy measuring instruments. Test meter supports, mounting state indicator lamps and mounting vertical columns are arranged on a verification table, wherein the mounting vertical columns are used for mounting the electric energy measuring instruments. A transfer table is provided with a transfer tray for containing the electric energy measuring instruments. One end of a mechanical arm is installed on the transfer table, the other end of the mechanical arm is connected with an end executor for grabbing the electric energy measuring instruments, and a camera is installed on the end executor. The camera is connected with a master controller through an image processing system. The invention further discloses an intelligent mounting detection method for the electric energy measuring instruments. Through the change of mounting plane positions in different observation directions and normal vectors of the positions, combined with the pose change of the end executor in the corresponding direction, the hand-eye coupling relationship of the end executor is determined; secondary errors generated in the mounting process can be corrected by recognizing linear combinations of mounting points and the rotation relationship between mounting surfaces, dependence on a calibration target and a precision measuring instrument is avoided, and high mounting accuracy and industrial field operability are achieved.

Description

Intelligent mounting system of electric energy metering device and mounting detection method thereof

Technical Field

The invention relates to an intelligent mounting system of an electric energy metering device, and also relates to an intelligent mounting detection method of the electric energy metering device, belonging to the technical field of detection.

Background

For a long time, the detection of the electric energy metering devices is carried out in a manual wiring mode, and the working efficiency is low; the detection device has a plurality of manufacturers, the control method, the detection process and the data management of the detection system developed by each manufacturer are inconsistent, the detection system cannot be universal, the working process of electric energy metering detection is difficult to standardize, and effective control on each business link is realized; and the detection quality is closely related to the technical level of workers, and the detection work standardization degree is low. The traditional on-site detection equipment is dispersed and complex in wiring, relates to heavy test equipment transfer and has higher safety risk; the detection work almost depends on manpower, the labor intensity is high, the wiring is complicated, the workload is large, and the working efficiency is low.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, provides an intelligent mounting system for an electric energy metering device, and solves the technical problems of low automation degree, underground working efficiency and high error rate of manual wiring detection in the prior art.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows: the intelligent mounting system of the electric energy metering device comprises a verification platform, a transfer platform and a manipulator; the verification platform is provided with a test meter support, a mounting state indicator light and a mounting upright post for mounting an electric energy metering device; a transfer tray for containing electric energy metering devices is arranged on the transfer table; one end of the manipulator is mounted on the transfer table, the other end of the manipulator is connected with an end effector used for grabbing the electric energy metering device, and a camera is further mounted on the end effector; the camera is connected with the master controller through the image processing system.

The end effector comprises a grabbing mechanism and a connecting support, and the grabbing mechanism is connected with the manipulator through the connecting support; the camera is fixedly arranged on the connecting bracket.

Snatch the mechanism and be provided with 3, the interval between the adjacent mechanism of snatching equals the interval between the adjacent mount stand.

The mount status indicator lamp includes at least: the device comprises a to-be-mounted indicator lamp, a mounting completion indicator lamp and a mounting fault indicator lamp.

The bottom of transfer platform still is equipped with the guide rail, the extending direction of guide rail along examination platform is laid.

Compared with the prior art, the intelligent mounting system for the electric energy metering device has the beneficial effects that: the universal intelligent mounting system for the electric energy metering devices is provided, the automation degree of detection of the electric energy metering devices is obviously improved, the manual labor intensity is reduced, and the working efficiency is improved; the camera is matched with the manipulator to form a hand-eye coupling relation, so that the electric energy metering device can be mounted quickly and accurately.

The invention also aims to provide an intelligent mounting detection method for the electric energy metering device, which can correct secondary errors generated in the mounting process and improve the robustness and the speed of mounting state identification.

The invention provides an intelligent mounting detection method of an electric energy metering device, which comprises the following steps:

the method comprises the following steps: the method comprises the steps that a camera obtains an image of a target mounting point, an image processing system identifies the mounting point through feature extraction, hand-eye cooperative calibration of an end effector is completed through linear combination of the mounting points, and mounting operation of an electric energy metering device is implemented through the end effector; the mounting point is the geometric center of the outer edge of the mounting upright post;

step two: after the mounting is finished, the camera obtains images of the mounting state indicator lamp area through area division, the image processing system conducts feature recognition on the mounting state indicator lamp, the mounting state is fed back to the master controller, and real-time mounting feedback is achieved.

The specific operation method of the hand-eye cooperative calibration is as follows:

step 1: establishing: world coordinate system O of manipulator₆X₆Y₆Z₆End effector coordinate system O_eX_eY_eZ_eCamera coordinate system O_cX_cY_cZ_cCalibration stand coordinate system O_wX_wY_wZ_wBy T₆Representing the transformation between the world coordinate system of the robot arm to the coordinate system of the end effector by T_cRepresenting the transformation between the camera coordinate system to the calibration stand coordinate system by T_mRepresenting an external parameter of the camera relative to the certification platform;

step 2: adjusting the position of the end effector to enable the mounting point to be imaged clearly in the camera;

and step 3: controlling the manipulator to enable the camera to obtain images of the mounting points from N different observation directions, wherein N is more than or equal to 6, and recording the posture change of the end effector relative to the previous observation direction;

and 4, step 4: establishing five-parameter model of camera $\left[\begin{array}{ccc}{k}_x& k_s& u_0\\ 0& k_y& v_0\\ 0& 0& 1\end{array}\right],$ Solving internal parameters and external parameters of the camera by using a least square method through N combinations of the mounting points, establishing a mapping model between an imaging coordinate system and an image coordinate system of the camera, and obtaining attitude transformation of the mounting points in the camera coordinate system relative to a previous observation position, wherein: k is a radical of_x,k_yRespectively is the magnification coefficient from the imaging plane to the image plane in the X-axis direction and the Y-axis direction; k is a radical of_sFor the magnification factor of the coupling of the imaging plane to the image plane in the X-axis and Y-axis directions, u₀,v₀Respectively representing X-axis coordinates and Y-axis coordinates of the intersection point of the central line of the optical axis of the camera and the image plane;

and 5: a universal rotation transformation matrix for 2 times of attitude transformation of the end effector and the camera respectively determined by continuous 3 azimuths;

step 6: according to the change of the relation T of the manipulator position_6tT_mT_ct＝T_6(t-1)T_mT_c(t-1)And establishing a position transformation relation between the end effector coordinate system and the camera coordinate system, wherein: t is the number corresponding to the observation direction, and t is more than or equal to 2 and less than or equal to N.

The mounting points are obtained by carrying out hough transformation on the images containing the mounting upright posts.

Compared with the prior art, the intelligent mounting detection method for the electric energy metering device provided by the invention has the beneficial effects that: the hand-eye coupling relation of the end effector is determined by the position of the mounting plane at different observation positions and the change of the normal vector thereof and the pose change of the end effector at the corresponding position; the secondary error generated in the mounting process can be corrected by identifying the linear combination of the mounting points and the rotation relation of the mounting surface, and the method does not depend on a calibration target and a precise measuring instrument, and has higher mounting precision and industrial field operability; the mounting state indicator lamp is identified through region segmentation, so that mounting state identification is completed, identification and fault diagnosis of the mounting state of the mounted electric energy metering device are achieved, the robustness and the speed of mounting state identification can be improved, and meanwhile, the accuracy of mounting control and the real-time performance of state feedback are improved.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent mounting system of an electric energy metering device.

FIG. 2 is a schematic diagram of coordinate system establishment in the intelligent mounting system of the electric energy metering device.

Fig. 3 is a flow chart of the operation of the intelligent mounting system of the electric energy metering appliance.

Fig. 4 is an operation flowchart of the hand-eye cooperative calibration in the intelligent mounting detection method of the electric energy metering device.

In the figure: 1. a verification platform; 2. a manipulator; 3. connecting a bracket; 4. a grabbing mechanism; 5. a camera; 6. mounting the upright post; 7. testing a meter support; 8. a mounting state indicator light; 9. a transfer table; 10. a guide rail; 11. a transfer tray; 12. an electric energy metering device.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

As shown in fig. 1, the intelligent mounting system for the electric energy metering device provided by the invention comprises a verification platform 1, wherein a plurality of mounting columns 6 are arranged on the verification platform 1, the mounting columns 6 are arranged in an array, and the distances between the left and right adjacent mounting columns 6 are equal. The test meter support 7 is fixed on the verification platform 1, arranged corresponding to the mounting upright post 6 and used for mounting an electric energy metering device 12. Every mount stand 6 all corresponds and has a mount state pilot lamp 8, including treating mount pilot lamp, mount completion pilot lamp and mount fault indicator.

Two guide rails 10 are arranged below the transfer platform 9, the guide rails 10 are laid along the extending direction of the verification platform 1, the transfer platform 9 advances along the guide rails 10, and the mounting of the mounting columns 6 in different areas on the verification platform 1 can be implemented. The transfer platform 9 is further provided with a transfer tray 11, a plurality of electric energy metering devices 12 are placed in the transfer tray 11, and the electric energy metering devices 12 are also arranged into an array type, so that the grabbing mechanism 4 can grab the electric energy metering devices. The manipulator 2 comprises a big arm section and a small arm section which are hinged with each other, the lower end of the big arm section is hinged with a transfer platform 9, and the upper end of the small arm section is hinged with an end effector. The end effector mainly comprises a connecting support 3 and grabbing mechanisms 4, preferably, the number of the grabbing mechanisms 4 is 3, and the distance between every two adjacent grabbing mechanisms 4 is equal to the distance between every two adjacent mounting columns 6 on the verification table 1. Still install camera 5 on linking bridge 3 for acquire the image of the upright post of the loading 6 and the status indicator lamp 8 of examining and calibrating on the platform 1, camera 5 passes through image processing system and connects total controller.

As shown in fig. 3, a flowchart of the operation of the intelligent mounting system of the electric energy metering device. During operation, the electric energy metering device 12 is grabbed from the transfer tray 11 by the grabbing mechanism 4, the manipulator 2 moves to the initial position of the mounting upright post 6, the camera 5 collects images of mounting points and transmits the images to the image processing system, after the images are processed by the image processing system, the general controller outputs the position of the mounting upright post 6, the manipulator 2 moves to the corresponding position of the verification platform 1, the electric energy metering device 12 is loosened by the grabbing mechanism 4, and the ammeter falls into a corresponding detection position. At the moment, the camera 5 starts to collect images of the mounting state indicator lamp 8 and transmits the images to the image processing system for mounting state identification detection.

Aiming at the intelligent mounting system of the electric energy metering device 12, the invention also provides an intelligent mounting detection method of the electric energy metering device 12, which comprises the following steps:

the method comprises the following steps: the camera 5 acquires an image of a target mounting point, the image processing system identifies the mounting point through feature extraction, the linear combination of the mounting points is utilized to complete the hand-eye cooperative calibration of the end effector, and the mounting operation of the electric energy metering device 12 is implemented through the end effector.

The mounting point is a geometric center of the outer edge of the mounting upright post 6, and is obtained by performing hough transformation on an image containing the mounting upright post 6.

Step two: after the mounting is completed, the camera 5 obtains the image of the mounting state indicator lamp 8 region through region segmentation, the image processing system performs feature recognition on the mounting state indicator lamp 8, and the mounting state is fed back to the master controller, so that real-time mounting feedback is realized.

The region segmentation is to divide a feature distribution region S (m, l, a, b) by taking the center m of the mounting point array as a reference point, wherein m and l determine the coordinate origin of the feature distribution region, and a and b determine the area of the feature region.

The characteristic identification of the mounting state indicator light 8 is as follows: according to the mounting information states mapped by different colors of the electric energy metering device mounting state indicator lamp 8, the method comprises the following steps: and (4) red light: the mounting fault indicating lamp represents a fault of the detection circuit; blue light: the indication lamp to be mounted indicates that the electric energy metering device 12 is not mounted or is not successfully mounted; green light: the mounting completion indicator light indicates that the electric energy metering device 12 has successfully completed mounting. The image processing system divides the RGB color space into corresponding component layers, acquires the state information of the indicator lamps in different layers through feature matching and feeds the state information back to the master controller in real time. Therefore, the visual detection method for intelligent mounting of the electric energy meter is completed.

As shown in fig. 4, it is an operation flowchart of the hand-eye cooperative calibration, and the specific operation method is as follows:

step 1: establishing: 2 world coordinate system O of manipulator₆X₆Y₆Z₆In which O is₆Is the geometric center of the manipulator base, X₆O₆Y₆Is the plane of the manipulator base, Y₆Passing the geometric center of the manipulator base to be vertical to Y₆O₆Z₆(ii) a End effector coordinate system O_eX_eY_eZ_eIn which O is_eFor the end articulationRotation center, Z_eIs a rotating shaft, X_eO_eY_eParallel to the camera imaging plane; camera 5 coordinate system O_cX_cY_cZ_cIn which O is_cIs the optical center, X, of the camera_cO_cY_cImaging a camera imaging plane; calibration stand 1 coordinate system O_wX_wY_wZ_wIn which O is_wLeft vertex of calibration stand, Z_wAnd Z₆In the opposite direction, X_wO_wY_wParallel to the plane of the base. Fig. 2 is a schematic diagram illustrating establishment of a coordinate system in an intelligent mounting system of an electric energy metering device.

By T₆Representing the transformation between the world coordinate system of the robot arm to the coordinate system of the end effector by T_cRepresenting the transformation between the coordinate system of the camera 5 to the coordinate system of the certification platform 1 by T_mThe parameters required by the camera 5 relative to the external parameters of the verification platform 1, namely the hand-eye cooperative calibration, are shown.

Step 2: adjusting the position of the end effector to enable the mounting point to be imaged clearly in the camera 5;

and step 3: controlling the manipulator 2 to enable the camera 5 to obtain mounting point images from N different observation directions, wherein N is more than or equal to 6, and recording the attitude transformation of the end effector relative to the previous observation direction

And 4, step 4: establishing a five-parameter model of the camera 5 $\left[\begin{array}{ccc}{k}_x& k_s& u_0\\ 0& k_y& v_0\\ 0& 0& 1\end{array}\right],$ Solving internal parameters and external parameters of the camera 5 by using a least square method through N combinations of the mounting points, establishing a mapping model between an imaging coordinate system and an image coordinate system of the camera 5, and obtaining posture transformation of the mounting points in the coordinate system of the camera 5 relative to a previous observation directionWherein: k is a radical of_x,k_yRespectively is the magnification coefficient from the imaging plane to the image plane in the X-axis direction and the Y-axis direction; k is a radical of_sFor the magnification factor of the coupling of the imaging plane to the image plane in the X-axis and Y-axis directions, u₀,v₀Respectively representing the X-axis and Y-axis coordinates of the intersection point of the central line of the optical axis of the camera 5 and the image plane;

and 5: general rotation transformation matrix Rot (k) of 2 attitude transformations of end effector and camera 5 determined by successive 3 orientations respectively_e,α_e)_t、Rot(k_e,α_e)_t+1And Rot (k)_c,α_c)_t、Rot(k_c,α_c)_t+1；

Step 6: according to the position change relation T of the manipulator 2_6tT_mT_ct＝T_6(t-1)T_mT_c(t-1)And establishing a position transformation relation between the coordinate system of the end effector and the coordinate system of the camera 5, wherein: t is the number corresponding to the observation direction, and t is more than or equal to 2 and less than or equal to N.

The following describes the calculation method in the hand-eye cooperative calibration in detail with reference to a specific calculation formula.

Mounting point p in the coordinate system of the known camera 5₁,p₂,p₃Are uniformly and linearly arranged, and the distance between adjacent mounting points is a fixed value L, namely

$\left\{\begin{array}{c}\left|\right|p_1{p}_2\left|\right|=\left|\right|p_2{p}_3\left|\right|\\ p_2=0.5p_1+0.5p_3\end{array}\right.---\left(1\right)$

Let p_iCoordinate [ x ] in camera 5 coordinates_ci,y_ci,z_ci]^TCorresponding coordinates in the image coordinate systemIs [ u ]_i,v_i,1]^TThe plane of the outer edge of the mounting upright post 6 is positioned on the xoy plane of the world coordinate system, and the coordinate P in the world coordinate system is_iIs P_i＝[X_w,Y_w,1]. According to the five-parameter model of the camera 5, making an internal parameter matrix $A=\left[\begin{array}{ccc}{k}_x& k_s& u_0\\ 0& k_y& v_0\\ 0& 0& 1\end{array}\right]$ Then there is

<math> <mrow> <msub> <mi>z</mi> <mi>ci</mi> </msub> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mi>i</mi> </msub> <mo>=</mo> <mi>A</mi> <msub> <mi>p</mi> <mi>i</mi> </msub> <mo>=</mo> <mi>A</mi> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mover> <mi>n</mi> <mo>&RightArrow;</mo> </mover> </mtd> <mtd> <mover> <mi>o</mi> <mo>&RightArrow;</mo> </mover> </mtd> <mtd> <mover> <mi>p</mi> <mo>&RightArrow;</mo> </mover> </mtd> </mtr> </mtable> </mfenced> <msub> <mi>P</mi> <mi>i</mi> </msub> <mo>,</mo> <mrow> <mo>(</mo> <mi>i</mi> <mo>=</mo> <mn>1,2,3</mn> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow> </math>

Can be obtained by combining (1) and (2)

<math> <mrow> <msub> <mi>z</mi> <mrow> <mi>c</mi> <mn>1</mn> </mrow> </msub> <mo>|</mo> <mo>|</mo> <msup> <mi>A</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mrow> <mo>(</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>1</mn> </msub> <mo>+</mo> <mfrac> <mrow> <mrow> <mo>(</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>1</mn> </msub> <mo>&times;</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>1</mn> </msub> <mo>&times;</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>3</mn> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <mrow> <mo>(</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>2</mn> </msub> <mo>&times;</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>1</mn> </msub> <mo>&times;</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>3</mn> </msub> <mo>)</mo> </mrow> </mrow> </mfrac> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>2</mn> </msub> <mo>)</mo> </mrow> <mo>|</mo> <mo>|</mo> <mo>=</mo> <mi>L</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow> </math>

Order to <math> <mrow> <mi>h</mi> <mo>=</mo> <mrow> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>1</mn> </msub> <mo>+</mo> <mfrac> <mrow> <mrow> <mo>(</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>1</mn> </msub> <mo>&times;</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>1</mn> </msub> <mo>&times;</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>3</mn> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <mrow> <mo>(</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>2</mn> </msub> <mo>&times;</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>1</mn> </msub> <mo>&times;</mo> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>3</mn> </msub> <mo>)</mo> </mrow> </mrow> </mfrac> <msub> <mover> <mi>p</mi> <mo>~</mo> </mover> <mn>2</mn> </msub> </mrow> <mo>,</mo> </mrow> </math> Then there is

$z_{c1}^2{h}^T{A}^{-T}{A}^{-1}h=L^2---\left(4\right)$

Wherein

$A^{-T}{A}^{-1}=\left[\begin{array}{ccc}\frac{1}{k_x^2}& -\frac{k_s}{k_x^2{k}_y}& \frac{v_0{k}_s-u_0{k}_y}{k_x^2{k}_y}\\ -\frac{k_s}{k_x^2{k}_y}& \frac{k_s^2}{k_x^2{k}_y^2}& -\frac{k_s(v_0{k}_s-u_0{k}_y)}{k_x^2{k}_y^2}-\frac{v_0}{k_y^2}\\ \frac{v_0{k}_s-u_0{k}_y}{k_x^2{k}_y}& -\frac{k_s(v_0{k}_s-u_0{k}_y)}{k_x^2{k}_y^2}-\frac{v_0}{k_y^2}& \frac{{(v_0{k}_s-u_0{k}_y)}^2}{k_x^2{k}_y^2}+\frac{v_0}{k_y^2}+1\end{array}\right]=B---\left(5\right)$

Due to A^-TA^-1Symmetry of (c), to avoid duplicate operations, B ═ B can be set₁₁,B₁₂,B₂₂,B₁₃,B₂₃,B₃₃]^T，h＝[h₁,h₂,h₃]^TThe substitution formula (4) is

v^Tx＝L² (6)

Wherein, $v={[h_1^2,2h_1{h}_2,h_2^2,2h_1{h}_3,2h_2{h}_3,h_3^2]}^T,x=z_A^{2}b.$ the mounting points obtained from N different observation directions are arranged in a row

$\left[\begin{array}{c}{v}_1\\ .\\ .\\ .\\ v_N\end{array}\right]x=L^2---\left(7\right)$

The set [ x ] of x can be solved by the least square method₁,x₂,x₃,x₄,x₅,x₆]^TThen, the intrinsic parameters of the camera 5 can be solved as follows

$\left\{\begin{array}{c}{v}_0=(x_2{x}_4-x_1{x}_5)/(x_1{x}_3-x_2^2)\\ z_{c1}=\sqrt{x_6-[x_4^2+v_0(x_2{x}_4-x_1{x}_5)]/x_1}\\ k_x=\sqrt{z_{c1}/x_1}\\ k_y=\sqrt{z_{c1}{x}_1(x_1{x}_3-x_2^2)}\\ k_s=-x_2{k}_x^2{k}_y/z_{c1}\\ u_0=k_s{v}_0/k_x-x_4{k}_x^2/z_{c1}\end{array}\right.---\left(8\right)$

Binding of formula (2) can complete p₁,p₂,p₃And solving the coordinates, and establishing a mapping model between the imaging coordinate system of the camera 5 and the image coordinate system.

In the connection of (2) and (4), there are

<math> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <mover> <mi>n</mi> <mo>&RightArrow;</mo> </mover> <mo>=</mo> <msub> <mi>z</mi> <mi>c</mi> </msub> <msup> <mi>A</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <msub> <mi>h</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <mover> <mi>o</mi> <mo>&RightArrow;</mo> </mover> <mo>=</mo> <msub> <mi>z</mi> <mi>c</mi> </msub> <msup> <mi>A</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <msub> <mi>h</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <mover> <mi>a</mi> <mo>&RightArrow;</mo> </mover> <mo>=</mo> <mover> <mi>n</mi> <mo>&RightArrow;</mo> </mover> <mo>&times;</mo> <mover> <mi>o</mi> <mo>&RightArrow;</mo> </mover> </mtd> </mtr> <mtr> <mtd> <mover> <mi>p</mi> <mo>&RightArrow;</mo> </mover> <mo>=</mo> <msub> <mi>z</mi> <mi>c</mi> </msub> <msup> <mi>A</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <msub> <mi>h</mi> <mn>3</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>9</mn> <mo>)</mo> </mrow> </mrow> </math>

The external parameters of the camera 5 relative to the mounting point under the observation direction can be obtainedWherein, <math> <mrow> <mover> <mi>n</mi> <mo>&RightArrow;</mo> </mover> <mo>=</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mi>x</mi> </msub> <mo>,</mo> <msub> <mi>n</mi> <mi>y</mi> </msub> <mo>,</mo> <msub> <mi>n</mi> <mi>z</mi> </msub> <mo>)</mo> </mrow> <mi>T</mi> </msup> <mo>,</mo> <mover> <mi>o</mi> <mo>&RightArrow;</mo> </mover> <mo>=</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>o</mi> <mi>x</mi> </msub> <mo>,</mo> <msub> <mi>o</mi> <mi>y</mi> </msub> <mo>,</mo> <msub> <mi>o</mi> <mi>z</mi> </msub> <mo>)</mo> </mrow> <mi>T</mi> </msup> <mo>,</mo> <mover> <mi>a</mi> <mo>&RightArrow;</mo> </mover> <mo>=</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>a</mi> <mi>x</mi> </msub> <mo>,</mo> <msub> <mi>a</mi> <mi>y</mi> </msub> <mo>,</mo> <msub> <mi>a</mi> <mi>z</mi> </msub> <mo>)</mo> </mrow> <mi>T</mi> </msup> <mo>,</mo> <mover> <mi>p</mi> <mo>&RightArrow;</mo> </mover> <mo>=</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>p</mi> <mi>x</mi> </msub> <mo>,</mo> <msub> <mi>p</mi> <mi>y</mi> </msub> <mo>,</mo> <msub> <mi>p</mi> <mi>z</mi> </msub> <mo>)</mo> </mrow> <mi>T</mi> </msup> <mo>.</mo> </mrow> </math>

the pose of the camera 5 with respect to the previous observation changes to

<math> <mrow> <mo>[</mo> <mi>R</mi> <msub> <mrow> <mo>(</mo> <msub> <mi>&theta;</mi> <mrow> <mi>t</mi> <mo>,</mo> <mi>t</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mi>c</mi> </msub> <mo>,</mo> <msubsup> <mi>P</mi> <mi>c</mi> <mrow> <mi>t</mi> <mo>,</mo> <mi>t</mi> <mo>-</mo> <mn>1</mn> </mrow> </msubsup> <mo>]</mo> <mo>=</mo> <msub> <mrow> <mo>[</mo> <mover> <mi>n</mi> <mo>&RightArrow;</mo> </mover> <mo>,</mo> <mover> <mi>o</mi> <mo>&RightArrow;</mo> </mover> <mo>,</mo> <mover> <mi>a</mi> <mo>&RightArrow;</mo> </mover> <mo>,</mo> <mover> <mi>p</mi> <mo>&RightArrow;</mo> </mover> <mo>]</mo> </mrow> <mi>t</mi> </msub> <msubsup> <mrow> <mo>[</mo> <mover> <mi>n</mi> <mo>&RightArrow;</mo> </mover> <mo>,</mo> <mover> <mi>o</mi> <mo>&RightArrow;</mo> </mover> <mo>,</mo> <mover> <mi>a</mi> <mo>&RightArrow;</mo> </mover> <mo>,</mo> <mover> <mi>p</mi> <mo>&RightArrow;</mo> </mover> <mo>]</mo> </mrow> <mrow> <mi>t</mi> <mo>-</mo> <mn>1</mn> </mrow> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msubsup> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>10</mn> <mo>)</mo> </mrow> </mrow> </math>

2 attitude changes determined by camera 5 in 3 successive observation positionsIs obtained from the formula (10). 2-time attitude change corresponding to the same three-time observation azimuth of the end effector

Given pose changeThe equivalent rotation angle and rotation axis can be obtained by converting the general formula by rotation as follows

<math> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <mi>&theta;</mi> <mo>=</mo> <mi>arctan</mi> <mo>[</mo> <msqrt> <msup> <mrow> <mo>(</mo> <msub> <mi>o</mi> <mi>z</mi> </msub> <mo>-</mo> <msub> <mi>a</mi> <mi>y</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>a</mi> <mi>x</mi> </msub> <mo>-</mo> <msub> <mi>n</mi> <mi>z</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mi>y</mi> </msub> <mo>-</mo> <msub> <mi>o</mi> <mi>x</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </msqrt> <mo>/</mo> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mi>x</mi> </msub> <mo>+</mo> <msub> <mi>o</mi> <mi>y</mi> </msub> <mo>+</mo> <msub> <mi>a</mi> <mi>z</mi> </msub> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>]</mo> </mtd> </mtr> <mtr> <mtd> <msub> <mi>k</mi> <mi>x</mi> </msub> <mo>=</mo> <mrow> <mo>(</mo> <msub> <mi>o</mi> <mi>z</mi> </msub> <mo>-</mo> <msub> <mi>a</mi> <mi>y</mi> </msub> <mo>)</mo> </mrow> <mo>/</mo> <mrow> <mo>(</mo> <mtext>2sin&theta;</mtext> <mo>)</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>k</mi> <mi>y</mi> </msub> <mo>=</mo> <mrow> <mo>(</mo> <msub> <mi>a</mi> <mi>x</mi> </msub> <mo>-</mo> <msub> <mi>n</mi> <mi>z</mi> </msub> <mo>)</mo> </mrow> <mo>/</mo> <mrow> <mo>(</mo> <mn>2</mn> <mi>sin</mi> <mi>&theta;</mi> <mo>)</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>k</mi> <mi>z</mi> </msub> <mo>=</mo> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mi>y</mi> </msub> <mo>-</mo> <msub> <mi>o</mi> <mi>x</mi> </msub> <mo>)</mo> </mrow> <mo>/</mo> <mrow> <mo>(</mo> <mn>2</mn> <mi>sin</mi> <mi>&theta;</mi> <mo>)</mo> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>11</mn> <mo>)</mo> </mrow> </mrow> </math>

Wherein (k)_x,k_y,k_z) Is a unit vector passing through the originThe component on each axis, theta, being aroundThe angle of rotation. Then the universal rotation transformation Rot (k) of 2 attitude transformations of the camera 5 coordinate system and the end effector coordinate system can be obtained_e,α_e)_t、Rot(k_e,α_e)_t+1And Rot (k)_c,α_c)_t、Rot(k_c,α_c)_t+1。

According to the transformation relation between the coordinate systems of the manipulator 2

T_6tT_mT_ct＝T_6(t-1)T_mT_c(t-1) (12)

Order to $T_{6(t-1)}^{-1}{T}_{6t}=\left[\begin{array}{cc}{R}_{\mathrm{et}}& p_{\mathrm{et}}\\ 0& 1\end{array}\right],T_{\mathrm{ct}}^{-1}{T}_{c(t-1)}=\left[\begin{array}{cc}{R}_{\mathrm{ct}}& p_{\mathrm{ct}}\\ 0& 1\end{array}\right],T_m=\left[\begin{array}{cc}{R}_m& p_m\\ 0& 1\end{array}\right].$ Then obtain

$\left\{\begin{array}{c}{R}_{\mathrm{et}}=R_m{R}_{\mathrm{ct}}{R}_m^T\\ -p_m{R}_{\mathrm{et}}+R_m{p}_{\mathrm{ct}}+p_m=p_{\mathrm{et}}\end{array}\right.---\left(13\right)$

General rotation transformation of formula (13) combined with 2-order posture transformation of camera 5 coordinate system and end effector coordinate system

R_m＝[k_et k_e(t+1) k_et×k_e(t+1)][k_ct k_c(t+1) k_ct×k_c(t+1)]^-1 (14)

P can be solved by the formulas (13) and (14) by adopting a least square method_mAnd completing the hand-eye cooperative calibration.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (8)

1. The intelligent mounting system of the electric energy metering device is characterized by comprising a verification platform, a transfer platform and a manipulator;

the verification platform is provided with a test meter support, a mounting state indicator light and a mounting upright post for mounting an electric energy metering device;

a transfer tray for containing electric energy metering devices is arranged on the transfer table;

one end of the manipulator is mounted on the transfer table, the other end of the manipulator is connected with an end effector used for grabbing the electric energy metering device, and a camera is further mounted on the end effector; the camera is connected with the master controller through the image processing system.

2. The intelligent mounting system for the electric energy metering device according to claim 1, wherein the end effector comprises a grabbing mechanism and a connecting bracket, and the grabbing mechanism is connected with the manipulator through the connecting bracket; the camera is fixedly arranged on the connecting bracket.

3. The intelligent mounting system for the electric energy metering device according to claim 2, wherein the number of the grabbing mechanisms is 3, and the distance between the adjacent grabbing mechanisms is equal to the distance between the adjacent mounting columns.

4. The intelligent mounting system for electric energy metering devices according to claim 1, wherein the mounting status indicator lamp at least comprises: the device comprises a to-be-mounted indicator lamp, a mounting completion indicator lamp and a mounting fault indicator lamp.

5. The intelligent electric energy meter mounting system according to claim 1, wherein a guide rail is further arranged at the bottom of the transfer platform, and the guide rail is laid along the extending direction of the verification platform.

6. The intelligent mounting detection method of the electric energy metering device is characterized by comprising the following steps:

the method comprises the following steps: the method comprises the steps that a camera obtains an image of a target mounting point, an image processing system identifies the mounting point through feature extraction, hand-eye cooperative calibration of an end effector is completed through linear combination of the mounting points, and mounting operation of an electric energy metering device is implemented through the end effector; the mounting point is the geometric center of the outer edge of the mounting upright post;

step two: after the mounting is finished, the camera obtains images of the mounting state indicator lamp area through area division, the image processing system conducts feature recognition on the mounting state indicator lamp, the mounting state is fed back to the master controller, and real-time mounting feedback is achieved.

7. The intelligent mounting detection method for the electric energy metering device according to claim 6, wherein the specific operation method of the hand-eye cooperative calibration is as follows:

step 1: establishing: world coordinate system O of manipulator₆X₆Y₆Z₆End effector coordinate system O_eX_eY_eZ_eCamera coordinate system O_cX_cY_cZ_cCalibration stand coordinate system O_wX_wY_wZ_wBy T₆Representing the transformation between the world coordinate system of the robot arm to the coordinate system of the end effector by T_cRepresenting the transformation between the camera coordinate system to the calibration stand coordinate system by T_mRepresenting an external parameter of the camera relative to the certification platform;

step 2: adjusting the position of the end effector to enable the mounting point to be imaged clearly in the camera;

and step 3: controlling the manipulator to enable the camera to obtain images of the mounting points from N different observation directions, wherein N is more than or equal to 6, and recording the posture change of the end effector relative to the previous observation direction;

and 4, step 4: establishing five-parameter model of camera $\left[\begin{array}{ccc}{k}_s& k_s& u_0\\ 0& k_y& v_0\\ 0& 0& 1\end{array}\right],$ Solving internal parameters and external parameters of the camera by using a least square method through N combinations of the mounting points, establishing a mapping model between an imaging coordinate system and an image coordinate system of the camera, and obtaining attitude transformation of the mounting points in the camera coordinate system relative to a previous observation position, wherein: k is a radical of_x,k_yRespectively is the magnification coefficient from the imaging plane to the image plane in the X-axis direction and the Y-axis direction; k is a radical of_sFor the magnification factor of the coupling of the imaging plane to the image plane in the X-axis and Y-axis directions, u₀,v₀Respectively representing X-axis coordinates and Y-axis coordinates of the intersection point of the central line of the optical axis of the camera and the image plane;

and 5: a universal rotation transformation matrix for 2 times of attitude transformation of the end effector and the camera respectively determined by continuous 3 azimuths;

step 6: according to the change of the relation T of the manipulator position_6tT_mT_ct＝T_6(t-1)T_mT_c(t-1)And establishing a position transformation relation between the end effector coordinate system and the camera coordinate system, wherein: t is the number corresponding to the observation direction, and t is more than or equal to 2 and less than or equal to N.

8. The intelligent mounting detection method for the electric energy metering device according to claim 6, wherein the mounting point is obtained by hough transformation of an image containing a mounting column.