CN106272414B - Pitch ear auricle assembling method of servo-controlling - Google Patents
Pitch ear auricle assembling method of servo-controlling Download PDFInfo
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- CN106272414B CN106272414B CN201610742655.5A CN201610742655A CN106272414B CN 106272414 B CN106272414 B CN 106272414B CN 201610742655 A CN201610742655 A CN 201610742655A CN 106272414 B CN106272414 B CN 106272414B
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 210000000624 ear auricle Anatomy 0.000 title claims abstract description 36
- 239000011295 pitch Substances 0.000 claims abstract description 17
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- 238000007619 statistical method Methods 0.000 claims abstract description 7
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- 238000010606 normalization Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of fork ear auricle assembling method of servo-controlling, including step：Camera and light source are installed on the both sides of fork ear pin hole by S1；S2, with the pin hole image of the fork ear pin hole of corresponding camera shooting at this time；S3 extracts one target collection of all pixels point and composition in the black portions between two annulus being illuminated using the method for image procossing from the pin hole image in step 2；Auricle is fitted into fork ear and pitches ear auricle assembly to form by S4；S5 adjusts the position of the opposite fork ear of auricle and the pin hole image of each fork ear pin hole at each moment is shot with corresponding camera in real time；S6 is extracted from the pin hole image in step 5 using the method for image procossing and is both belonged to target collectionThe one current collection K of all pixels point and composition being illuminated again simultaneously on parti,t；S7 based on sets theory and statistical method, constructs the image error item e of each pin hole image of shootingt；S8 obtains the controller for closed-loop control according to step S7.
Description
Technical field
The present invention relates to large parts assembling control and detection technique fields more particularly to a kind of fork ear auricle assembling to watch
Take control method.
Background technology
Fork ear and auricle assembling are a kind of large parts assembling common assembly methods in field, due to part large scale and
The characteristic of heavy load pitches pin hole alignment on ear and auricle and is difficult to realize by manual type, existing automatic servo mounting technology
In again there are image characteristics extraction it is difficult the problems such as, it is difficult to acquisition stablize effective feedback control signal, cause assembly precision it is low,
The problems such as Assembly stability is poor.
The content of the invention
In view of problem present in background technology, it is an object of the invention to provide a kind of fork ear auricle assembling SERVO CONTROLs
Method can avoid the occurrence of singular problem when extracting characteristics of image, improve stability and the assembling of the auricle assembling of fork ear
Precision.
To achieve these goals, the present invention provides a kind of fork ear auricle assembling method of servo-controlling include step S1,
S2, S3, S4, S5, S6, S7 and S8.
Camera and light source along the axis of the fork ear pin hole of fork ear are installed on the both sides of fork ear pin hole, make light source by S1 respectively
The light-transmissive fork ear pin hole sent corresponds to a camera and a light source by cameras capture, a fork ear pin hole.
S2 opens the corresponding light source of each fork ear pin hole and adjusts brightness so that fork ear pin hole can be illuminated, and with correspondence
Camera shooting at this time fork ear pin hole pin hole image.
S3 is extracted in quilt in the pin hole image of the fork ear pin hole obtained using the method for image procossing from step 2
One target collection of all pixels point in black portions and composition between two annulus illuminatedI.e.：
Wherein, [x*,y*]TIt representsIn any one pixel coordinate, i is the number of camera, and n is pin hole image
Long, m is the width of pin hole image, I*(x*,y*) be each pixel gray scale, thr is gray threshold, (x*,y*) represent to appoint in image
One pixel of meaning, ψ is pin bore area.
Auricle is fitted into fork ear and pitches ear auricle assembly to form by S4, and makes auricle pin hole and fork ear pin hole part weight
It closes so as to through light.
S5 adjusts the position of the opposite fork ear of auricle and the pin of each fork ear pin hole at each moment is shot with corresponding camera in real time
Hole pattern picture.
S6 is extracted in the pin hole image obtained using the method for image procossing from step 5 and is both belonged to target collection
Current one current collection K of all pixels point and composition being illuminated again on part simultaneouslyi,t, i.e.,：
Wherein χ=[x, y]TRepresent KI, tIn any one pixel coordinate, t represent the moment.
S7 based on sets theory and statistical method, is obtained by step S3The K obtained with step S6i,tIt constructs
The image error item e of each pin hole image of shootingtFor closed-loop control, etExpression formula be：
Wherein,
Xci,0、Yci,0Respectively pitch X-axis coordinate and Y-axis coordinate of the center of circle of ear pin hole i in the case where pitching ear coordinate system, Xcj,0For
Pitch X-axis coordinate of the center of circle of ear pin hole j in the case where pitch ear coordinate system, N is the quantity for pitching ear pin hole, fiFor the focal length of camera, γ is
Normalization coefficient, χ represent target collectionIn element.
S8 is obtained for the controller of closed-loop control according to step S7 to control the movement of auricle in real time and make auricle pin hole
It gradually aligns with fork ear pin hole, the form of expression of controller is the movement u of each degree of freedom of auricletWith image error item etBetween
Relation, i.e.,：
Wherein,For Interactive matrix, λ is a positive constant, for controlled motion rate, ut
For auricle each degree of freedom in the amount of exercise of t moment, and u1,tFor translation of the auricle along positive direction of the x-axis, u2,tFor auricle along z-axis just
The translation in direction, u3,tIt is auricle 2 around the rotation of y-axis forward direction, ut-1For auricle each degree of freedom the t-1 moment amount of exercise.
Beneficial effects of the present invention are as follows：
In fork ear auricle assembling method of servo-controlling according to the present invention, using the method for image procossing from step 2
One mesh of all pixels point and composition in the black portions between two annulus being illuminated is extracted in pin hole image
Mark setAnd it is extracted from the pin hole image of step 5 and both belongs to target collectionIt is current simultaneously to be illuminated again on part
One current collection K of all pixels point and compositioni,t, sets theory and statistical method are then based on, constructs each pin hole figure
The image error item e of picturet, and the controller of closed-loop control is obtained to control the movement of auricle in real time and make auricle pin hole and fork ear
Pin hole gradually aligns.This fork ear auricle assembling method of servo-controlling avoids the essence to single features when extracting characteristics of image
Really extraction, matching and tracking into without singular problem, improve the stability and assembly precision for pitching the assembling of ear auricle.
Description of the drawings
Fig. 1 is fork ear, auricle, camera and the light source according to the present invention pitched in ear auricle assembling method of servo-controlling one
Position relationship schematic diagram in embodiment；
Fig. 2 is the stereogram of the fork ear in Fig. 1；
Fig. 3 is the stereogram of the auricle in Fig. 1；
Fig. 4 is the variation of Fig. 2；
Fig. 5 is the variation of Fig. 3；
Fig. 6 to Fig. 8 is that the single camera in fork ear auricle assembling method of servo-controlling according to the present invention is shot
Pin hole image at different moments, wherein, Fig. 6 is to pitch the pin hole image that shooting obtains before the assembling of ear auricle starts, and Fig. 7 is fork ear ear
Auxiliary tone on chip is whole to shoot obtained pin hole image in the process, and Fig. 8 is to pitch the assembling of ear auricle to shoot obtained pin hole image after finishing.
Wherein, the reference numerals are as follows：
1 fork 4 light source of ear
11 fork ear pin hole S pin hole images
2 auricle S1 black portions
21 auricle pin hole S2 annulus
3 camera S3 are illuminated part
Specific embodiment
With reference to the accompanying drawings method of servo-controlling is assembled fork ear auricle according to the present invention is described in detail
Referring to figs. 1 to Fig. 8, fork ear auricle assembling method of servo-controlling according to the present invention include step S1, S2, S3, S4,
S5, S6, S7 and S8.
Camera 3 and light source 4 are installed on the both sides of fork ear pin hole 11 by S1 along the axis of the fork ear pin hole 11 of fork ear 1 respectively,
The light-transmissive fork ear pin hole 11 that light source 4 is sent is made to be captured by camera 3, a fork ear pin hole 11 corresponds to a camera 3 and one
Light source 4, as shown in Figure 1.
S2 opens each 11 corresponding light source 4 of fork ear pin hole and adjusts brightness so that fork ear pin hole 11 can be illuminated, is used in combination
Corresponding camera 3 shoots the pin hole image S of fork ear pin hole 11 at this time.
It extracts and is in S3, the pin hole image S of the fork ear pin hole 11 obtained using the method for image procossing from step 2
One target collection of all pixels point on black portions S1 and composition between two annulus S2 being illuminatedI.e.：
Wherein, [x*,y*]TIt representsIn any one pixel coordinate, i is number (and camera 3 of camera 3
The number of corresponding pin hole), n be pin hole image S length, m be pin hole image S width, I*(x*,y*) be each pixel gray scale,
Thr is gray threshold, (x*,y*) representing any one pixel in image, ψ is pin bore area.
Auricle 2 is fitted into fork ear 1 and pitches ear auricle assembly to form by S4, and makes auricle pin hole 21 and fork ear pin hole 11
It partially overlaps so as to through light.
S5 adjusts the position of the opposite fork ear 1 of auricle 2 and each fork ear pin hole at each moment is shot with corresponding camera 3 in real time
11 pin hole image S.
It is extracted in S6, the pin hole image S obtained using the method for image procossing from step 5 and both belongs to target collection
Current one current collection K of all pixels point and composition being illuminated again on part simultaneouslyi,t, i.e.,：
Wherein χ=[x, y]TRepresent Ki,tIn any one pixel coordinate, t represent the moment.
S7 based on sets theory and statistical method, is obtained by step S3The K obtained with step S6i,tIt constructs
The image error item e of each pin hole image S of shootingtFor closed-loop control, etExpression formula be：
Wherein,
Xci,0、Yci,0Respectively pitch X-axis coordinate and Y-axis coordinate of the center of circle of ear pin hole 11i in the case where pitching ear coordinate system, Xcj,0
To pitch X-axis coordinate of the center of circle in the case where pitch ear coordinate system of ear pin hole 11j, N is the quantity for pitching ear pin hole 11, fiFor the coke of camera 3
Away from γ is normalization coefficient, and χ represents target collectionIn element.
S8 is obtained for the controller of closed-loop control according to step S7 to control the movement of auricle 2 in real time and make auricle pin
Hole 21 and the gradually alignment of fork ear pin hole 11, the form of expression of controller are the movement u of each degree of freedom of auricle 2tWith image error
Item etBetween relation, i.e.,：
Wherein,For Interactive matrix, λ is a positive constant, for controlled motion rate, utFor
Each degree of freedom of auricle 2 is in the amount of exercise of t moment, and u1,tFor translation of the auricle 2 along positive direction of the x-axis, u2,tIt is auricle 2 along z-axis
The translation of positive direction, u3,tIt is auricle 2 around the rotation of y-axis forward direction, ut-1For auricle 2 each degree of freedom the t-1 moment amount of exercise.
In fork ear auricle assembling method of servo-controlling according to the present invention, using the method for image procossing from step 2
The all pixels point and composition one on the black portions S1 between two annulus S2 being illuminated are extracted in pin hole image S
A target collectionAnd it is extracted from the pin hole image S of step 5 and both belongs to target collectionIt is current simultaneously to be illuminated again
One current collection K of all pixels point and composition on parti,t, sets theory and statistical method are then based on, is constructed each
The image error item e of pin hole image St, and the controller of closed-loop control is obtained to control the movement of auricle 2 in real time and make auricle pin
Hole 21 and the gradually alignment of fork ear pin hole 11.This fork ear auricle assembling method of servo-controlling avoids pair when extracting characteristics of image
Accurate extraction, matching and the tracking of single features into without singular problem, improve the stability for pitching the assembling of ear auricle
And assembly precision.
It remarks additionally herein, the sets theory that the present invention uses refers to：It (is obtained from present image in corresponding step 2
To image) and target image (image obtained in corresponding step 5) in respectively take out one group of pixel and separately constitute two set,
By calculate two set between error obtain the error space of a dimensionality reduction, then establish the error space to camera motion oneself
By the mapping for spending space.In addition, the algorithm based on set takes full advantage of the error of pixel scale, reasonable premise is designed in algorithm
Under can avoid local optimum, reach higher closed-loop control precision.
Fork ear auricle assembling method of servo-controlling according to the present invention, in the step s 7, the image error of each pin hole image
Item etConstruction mechanism be：
Firstly, for target collectionWith current collection Ki,t, find out from target collectionIn elementTo current collection
Close Ki,tIn elementRough matching function, the expression formula of the rough matching function is：
Then, based on target collectionWith current collection Ki,tRough matching function construct the image of each pin hole image S
Error term et。
It remarks additionally herein, the effect for establishing rough matching function is in order to will set Ki,tIn withDistance is most
Small element find and as withMatched element.Certain this adaptation function can be varied, be not limited in
This.In general, good adaptation function obtains real corresponding pixel points with the probability match of bigger, but the complexity calculated is big, and
Only with rough matching function in the control method based on sets theory that the present invention mentions, then made up by statistical method
Deficiency with precision, it is excessive so as to avoid computation complexity.
Fork ear auricle assembling method of servo-controlling according to the present invention, in the step s 7, the movement of each degree of freedom of auricle 2
utWith image error item etBetween the relation process of pushing over be：
First, to etSimplified to obtain,
etIn χ apply u increment of motion after expression formula be,
Then, to χJ, tIt carries out seeking local derviation, obtain,
Secondly, approximate condition is introduced,
Finally to etLocal derviation is sought, and willE is substituted into approximate conditiontLocal derviation expression formula can arrange to obtain：
I.e.：
Thus obtain,
Wherein, j is expressed as numbering different from another pin hole of i,For target collectionIn element, xj,0、yj,0
Refer to elementCorresponding X-coordinate and Y-coordinate in the picture.
Fork ear auricle assembling method of servo-controlling according to the present invention, in step s 8, due to all cameras 3 model with
And distance of each camera 3 apart from auricle 2 is identical, therefore the focal length f of all cameras 3iWith optical center away from Xcj,0-Xcj,0It is all identical, and one
A pair of of pin hole center of circle opposite piece coordinate system y-z plane on a auricle 2 is symmetrical, then image error item etSimplification process such as
Under：
Since the λ in the present invention is dynamic control rate, then it is further simplified as：
It remarks additionally herein, workpiece coordinate system establishment principle is：The x-z-plane of workpiece coordinate system is located at auricle 2
Two sheet bodies 12 centre and auricle 2 two sheet bodies 12 it is symmetrical on x-z-plane, two opposite pin holes 21 of auricle 2 are on workpiece
The y-z plane of coordinate system is symmetrical, and y-axis is parallel with 11 axis of pin hole, as shown in Figure 2.In addition, for any one image
It says, the x-axis of image coordinate system refers to the uppermost edge of the image, and towards the right side, y-axis refers to the leftmost edge of the image in direction,
It is directed downward, and origin is the intersection point of x-axis and y-axis.
In fork ear auricle assembling method of servo-controlling according to the present invention, constant λ<1.It remarks additionally herein,
Using smaller λ when initial, with image error item etReduction, and due to using rough function match, target collectionIn
Element and current collection Ki,tIn elementMatching relationship frequently change, and when this variation cannot ignore again,
It can cause image error item etLocal derviation it is severalMuch smaller than theoretical value 1, therefore gradually increase λ to ensure convergence rate.
Fork ear auricle assembling method of servo-controlling according to the present invention, in one embodiment, fork ear 1 at least have that there are two pitch
Ear pin hole 11 (with reference to Fig. 1, Fig. 2 and Fig. 4), the quantity of camera 3 and light source 4 is consistent with the quantity for pitching ear pin hole 11.
Fork ear auricle assembling method of servo-controlling according to the present invention, is pitched in entire assembling process of the auricle 2 with pitching ear 1
There is no relative motion between ear 1 and camera 3.
Fork ear auricle assembling method of servo-controlling according to the present invention, pitches ear 1 and 3 equal fixed placement of camera in workbench
On.
Claims (7)
1. a kind of fork ear auricle assembling method of servo-controlling, which is characterized in that including step：
Camera (3) and light source (4) are installed on fork ear pin hole (11) by S1 along the axis of the fork ear pin hole (11) of fork ear (1) respectively
Both sides, the light-transmissive fork ear pin hole (11) that light source (4) sends is made to be captured by camera (3), a fork ear pin hole (11) is corresponding
One camera (3) and a light source (4)；
S2 opens each fork ear pin hole (11) corresponding light source (4) and adjusts brightness so that fork ear pin hole (11) can be illuminated, and
With the pin hole image (S) of the fork ear pin hole (11) of corresponding camera (3) shooting at this time；
S3 is extracted in the pin hole image (S) of the fork ear pin hole (11) obtained using the method for image procossing from step 2 and is in
One target collection of all pixels point and composition in black portions (S1) between two annulus (S2) being illuminatedI.e.：
Wherein, [x*,y*]TIt representsIn any one pixel coordinate, i be camera (3) number, n be pin hole image (S)
Length, m be pin hole image (S) width, I*(x*,y*) be each pixel gray scale, thr is gray threshold, (x*,y*) represent image
In any one pixel, ψ is pin bore area；
Auricle (2) is fitted into fork ear (1) and pitches ear auricle assembly to form by S4, and makes auricle pin hole (21) and fork ear pin hole
(11) partially overlap so as to through light；
S5 adjusts the position of the opposite fork ear (1) of auricle (2) and each fork ear pin at each moment is shot with corresponding camera (3) in real time
The pin hole image (S) in hole (11)；
S6 is extracted in the pin hole image (S) obtained using the method for image procossing from step 5 and is both belonged to target collectionTogether
Shi Dangqian is illuminated one current collection K of all pixels point and composition on part (S3) againi,t, i.e.,Wherein [x, y]TRepresent Ki,tIn any one picture
The coordinate of vegetarian refreshments, t represent the moment；
S7 based on sets theory and statistical method, is obtained by step S3The K obtained with step S6i,tConstruct shooting
Each pin hole image (S) image error item etFor closed-loop control, etExpression formula be：
Wherein, Xci,0、Yci,0X-axis coordinate and Y-axis coordinate of the center of circle of ear pin hole (11) i in the case where pitching ear coordinate system are respectively pitched,
Xcj,0To pitch Y-axis coordinate of the center of circle in the case where pitch ear coordinate system of ear pin hole (11) j, N is the quantity for pitching ear pin hole (11), fiFor phase
The focal length γ of machine (3) is normalization coefficient, and χ represents target collectionIn element；
S8 is obtained for the controller of closed-loop control according to step S7 to control the movement of auricle (2) in real time and make auricle pin hole
(21) gradually align with fork ear pin hole (11), the form of expression of controller is the movement u of each degree of freedom of auricle (2)tWith image
Error term etBetween relation, to the image error item e in step S7tDerivation obtains：
And then obtain utWith etThe discrete form of relation, i.e.,：
Wherein,For Interactive matrix, λ is a positive constant, for controlled motion rate, utFor auricle
(2) each degree of freedom is in the amount of exercise of t moment, u1,tFor translation of the auricle (2) along positive direction of the x-axis, u2,tIt is auricle (2) along z-axis
The translation of positive direction, u3,tIt is auricle (2) around the rotation of y-axis forward direction, ut-1For auricle (2) each degree of freedom the t-1 moment fortune
Momentum.
2. fork ear auricle assembling method of servo-controlling according to claim 1, which is characterized in that
In the step s 7, the image error item e of each pin hole imagetConstruction mechanism be：
Firstly, for target collectionWith current collection Ki,t, find out from target collectionIn elementTo current collection
Ki,tIn elementRough matching function, the expression formula of the rough matching function is：
Then, based on target collectionWith current collection Ki,tRough matching function construct each pin hole image (S) image miss
Poor item et。
3. fork ear auricle assembling method of servo-controlling according to claim 1, which is characterized in that
In step s 8, auricle（ 2）Each degree of freedom movement utWith image error item etBetween the relation process of pushing over be：
First, to etSimplified to obtain,
etIn χ apply u increment of motion after expression formula be,
Then, to χj,tIt carries out seeking local derviation, obtain,
Then, approximate condition is introduced,
Finally to etLocal derviation is sought, and willE is substituted into approximate conditiontLocal derviation expression formula can arrange to obtain：
I.e.：
Thus u is obtainedtWith etThe discrete form of relation,
Wherein, j is expressed as another camera numbers different from i,For target collectionIn element, xj,0、yj,0Refer to elementCorresponding X-coordinate and Y-coordinate in the picture.
4. fork ear auricle assembling method of servo-controlling according to claim 1, which is characterized in that constant λ<1.
5. fork ear auricle assembling method of servo-controlling according to claim 1, which is characterized in that fork ear (1) at least has
The quantity of two fork ear pin holes (11), camera (3) and light source (4) is consistent with the quantity of fork ear pin hole (11).
6. fork ear auricle assembling method of servo-controlling according to claim 1, which is characterized in that in auricle (2) and fork ear
(1) being pitched in entire assembling process between ear (1) and camera (3) does not have relative motion.
7. fork ear auricle assembling method of servo-controlling according to claim 1, which is characterized in that fork ear (1) and camera (3)
Equal fixed placement is on workbench.
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| CN108408080B (en) * | 2018-03-29 | 2019-11-12 | 南昌航空大学 | A kind of aircraft wing body Butt Assembling device, method and system |
| CN109190681B (en) * | 2018-08-13 | 2021-02-05 | 清华大学 | Pin hole alignment degree identification method based on self-supervision learning |
| CN111923044B (en) * | 2020-07-31 | 2021-11-26 | 中铁建电气化局集团第一工程有限公司 | Accurate installation method and device for pin shaft for machining wrist arm |
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