CN113555659A - Duplexer debugging method based on manipulator - Google Patents

Duplexer debugging method based on manipulator Download PDF

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Publication number
CN113555659A
CN113555659A CN202110616846.8A CN202110616846A CN113555659A CN 113555659 A CN113555659 A CN 113555659A CN 202110616846 A CN202110616846 A CN 202110616846A CN 113555659 A CN113555659 A CN 113555659A
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CN
China
Prior art keywords
manipulator
duplexer
screw
debugged
screwdriver
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110616846.8A
Other languages
Chinese (zh)
Inventor
余五新
张延河
轩亮
沈永康
洪文雄
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jianghan University
Original Assignee
Jianghan University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jianghan University filed Critical Jianghan University
Priority to CN202110616846.8A priority Critical patent/CN113555659A/en
Publication of CN113555659A publication Critical patent/CN113555659A/en
Pending legal-status Critical Current

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Classifications

    • HELECTRICITY
    • H01BASIC ELECTRIC ELEMENTS
    • H01PWAVEGUIDES; RESONATORS, LINES, OR OTHER DEVICES OF THE WAVEGUIDE TYPE
    • H01P11/00Apparatus or processes specially adapted for manufacturing waveguides or resonators, lines, or other devices of the waveguide type
    • H01P11/007Manufacturing frequency-selective devices
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/10Segmentation; Edge detection
    • G06T7/13Edge detection
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/60Analysis of geometric attributes
    • G06T7/66Analysis of geometric attributes of image moments or centre of gravity
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/70Determining position or orientation of objects or cameras
    • G06T7/73Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/20Special algorithmic details
    • G06T2207/20048Transform domain processing
    • G06T2207/20061Hough transform
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30108Industrial image inspection
    • G06T2207/30164Workpiece; Machine component

Abstract

The application provides a duplexer debugging method based on a manipulator, which comprises the following steps: acquiring screw information of a screw to be debugged on the duplexer, wherein the screw information comprises screw coordinates and screw types; acquiring manipulator information, wherein the manipulator information comprises manipulator coordinates and screwdriver types; obtaining a moving path of the manipulator according to the screw coordinate and the manipulator coordinate, and moving the manipulator to the position above the screw to be debugged according to the moving path; selecting a corresponding screwdriver according to the type of the screw and the type of the screwdriver, pushing out the screwdriver by the manipulator, and screwing the screwdriver into the screw to be debugged; and sequentially debugging all the screws to be debugged on the duplexer by the manipulator until the waveform of the filtering signal of the duplexer is adjusted to a target waveform. This application is according to the screw on the manipulator automatic positioning duplexer to accomplish the debugging of duplexer, degree of automation is high, and duplexer debugging precision is high, efficient.

Description

Duplexer debugging method based on manipulator
Technical Field
The application belongs to the technical field of duplexer debugging, and particularly relates to a duplexer debugging method based on a manipulator.
Background
The duplexer is a main accessory of the different-frequency duplex radio station and the relay station, and has the functions of isolating the transmitted signal from the received signal, ensuring the normal operation of both the receiving and transmitting signals.
In the actual duplexer production process, the screws on the duplexer are adjusted by workers to achieve the waveform specified in production, the screws are multiple and complex, manual adjustment is time-consuming and labor-consuming, and the precision of manual debugging is low.
Disclosure of Invention
The embodiment of the application provides a duplexer debugging method based on a manipulator, and aims to solve the problem that the existing manual debugging duplexer is time-consuming and labor-consuming and has low debugging precision.
The embodiment of the application provides a duplexer debugging method based on a manipulator, which comprises the following steps:
acquiring screw information of a screw to be debugged on the duplexer, wherein the screw information comprises screw coordinates and screw types;
acquiring manipulator information, wherein the manipulator information comprises manipulator coordinates and screwdriver types;
obtaining a moving path of the manipulator according to the screw coordinate and the manipulator coordinate, and moving the manipulator to the position above the screw to be debugged according to the moving path;
selecting a corresponding screwdriver according to the type of the screw and the type of the screwdriver, pushing out the screwdriver by a manipulator, and screwing the screwdriver into the screw to be debugged;
and the manipulator sequentially debugs all the screws to be debugged on the duplexer until the waveform of the filtering signal of the duplexer is regulated to a target waveform.
Optionally, the step of obtaining the information of the screws on the duplexer includes:
shooting the surface of the duplexer to obtain a screw image;
matching the shape characteristics in the screw image with the shape characteristics of a standard screw to obtain the type of the screw;
and detecting the coordinates of the circle center of the screw in the screw image to obtain the coordinates of the screw.
Optionally, the shape feature in the screw image is a screw head feature, and is obtained according to edge information of the screw head in the screw image.
Optionally, the coordinates of the center of the circle of the screw are calculated by a circle positioning algorithm.
Optionally, the circle positioning algorithm obtains the circle center coordinate values of the screw by a least square method and hough transformation, and adds the two circle center coordinate values to obtain an average value to obtain the circle center coordinate of the screw.
Alternatively, the screw type is obtained from the edge information of the screw head.
Optionally, the step of obtaining the moving path of the manipulator is as follows:
fixing an industrial camera on a manipulator, and calibrating the position relation between the industrial camera and the manipulator;
moving the manipulator to enable the industrial camera to respectively obtain a reference point on two opposite angles of the duplexer to obtain reference point coordinates;
and converting the circle center coordinate and the manipulator coordinate according to the reference point coordinate, wherein the circle center coordinate and the manipulator coordinate are positioned in the same coordinate system, and obtaining the moving path of the manipulator.
Optionally, the two reference points are respectively a reference point at the upper left corner of the duplexer and a reference point at the upper right corner of the duplexer.
Optionally, the manipulator sequentially debugs all the screws to be debugged on the duplexer until the waveform of the filtered signal of the duplexer is adjusted to a target waveform, and the specific method is as follows:
connecting the standing wave instrument to the duplexer through a transmitter, and detecting the standing wave value of the duplexer at any time;
and setting a standing wave threshold value, and debugging the screw to be debugged by the mechanical arm according to the standing wave threshold value until the standing wave value of the transmitting channel of the duplexer corresponds to the standing wave value of the receiving channel of the duplexer.
The duplexer debugging method based on the manipulator, provided by the embodiment of the application, can automatically position the screws on the duplexer and finish the debugging of the duplexer, and is high in automation degree, precision and efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that other drawings can be derived from these drawings by a person skilled in the art without inventive effort.
For a more complete understanding of the present application and its advantages, reference is now made to the following descriptions taken in conjunction with the accompanying drawings. Wherein like reference numerals refer to like parts in the following description.
Fig. 1 is a flowchart of a manipulator-based duplexer debugging method according to an embodiment of the present application.
Fig. 2 is a sub-flowchart of step S1 in the manipulator-based duplexer tuning method according to the embodiment of the present application.
Fig. 3 is a sub-flowchart of step S3 in a manipulator-based duplexer tuning method according to an embodiment of the present application.
Fig. 4 is a sub-flowchart of step S5 in a manipulator-based duplexer tuning method according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides a duplexer debugging method based on a manipulator, and aims to solve the problem that the existing manual debugging duplexer is time-consuming and labor-consuming and has low debugging precision.
Before the present application is described in detail, it should be noted that how to debug a duplexer using a manipulator is a technical problem to be solved by the present application, and based on this problem, the present application is a combined innovation performed on the basis of existing hardware and software bases, and does not limit the specific hardware structures of known devices, units, and modules and existing consistent programs inside the known devices, units, and modules, that is, existing hardware devices with corresponding execution functions are all used in the present application. Moreover, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus.
The naming or numbering of the steps appearing in the present application does not mean that the steps in the method flow have to be executed in the chronological/logical order indicated by the naming or numbering, and the named or numbered process steps may be executed in a modified order depending on the technical purpose to be achieved, as long as the same or similar technical effects are achieved.
Next, a robot-based duplexer tuning method provided by the present application will be described.
Referring to fig. 1, a manipulator-based duplexer tuning method includes:
s1, acquiring screw information of a screw to be debugged on the duplexer, wherein the screw information comprises screw coordinates and screw types;
s2, acquiring manipulator information, wherein the manipulator information comprises manipulator coordinates and screwdriver types;
s3, obtaining a moving path of the manipulator according to the screw coordinates and the manipulator coordinates, and moving the manipulator to the position above the screw to be debugged according to the moving path;
s4, selecting a corresponding screwdriver according to the type of the screw and the type of the screwdriver, pushing out the screwdriver by the manipulator, and screwing the screwdriver into the screw to be debugged;
and S5, sequentially debugging all the screws to be debugged on the duplexer by the manipulator until the waveform of the filtering signal of the duplexer is adjusted to the target waveform.
As can be seen from the embodiment shown in FIG. 1, the application provides that the debugging of the duplexer is carried out based on the manipulator to the debugging of the signal waveform of the duplexer, the screw coordinate and the screw type on the duplexer are accurately positioned out through the manipulator, the manipulator automatically moves to the knob screw at the screw position, the debugging of the duplexer is carried out, the automation degree is high, and the debugging efficiency and the accuracy of the duplexer are improved.
In some embodiments, referring to fig. 2, the step of S1 obtaining the information of the screws on the duplexer includes:
s10, shooting the surface of the duplexer to obtain a screw image;
s11, matching the shape characteristics in the screw image with the shape characteristics of a standard screw to obtain the type of the screw;
and S12, detecting the coordinates of the center of the circle of the screw in the screw image to obtain the coordinates of the screw.
In some embodiments, the shape feature in the screw image is a screw head feature, obtained from edge information of the screw head in the screw image.
In some embodiments, the center coordinates of the screw are calculated by a circle location algorithm.
In some embodiments, the circle positioning algorithm obtains the circle center coordinate values of the screw by a least square method and hough transformation, and adds the two circle center coordinate values to obtain the circle center coordinate of the screw by averaging.
In some embodiments, the screw type is obtained according to the edge information of the screw head, wherein the screw type is a quincunx type or a cross type, and the corresponding screwdriver is also a quincunx type screwdriver or a cross type screwdriver.
In some embodiments, the step of S3 obtaining the active path of the manipulator is as follows:
s30, fixing the industrial camera on the manipulator, and calibrating the position relation between the industrial camera and the manipulator;
s31, moving the manipulator to enable the industrial camera to respectively obtain a reference point on two opposite corners of the duplexer to obtain reference point coordinates;
and S32, converting the center coordinate and the manipulator coordinate according to the reference point coordinate, wherein the center coordinate and the manipulator coordinate are located in the same coordinate system, and obtaining the moving path of the manipulator.
In some embodiments, the two reference points are respectively the reference point of the upper left corner of the duplexer and the reference point of the upper right corner of the duplexer.
In some embodiments, referring to fig. 4, the S5 manipulator sequentially debugs all screws to be debugged on the duplexer until the waveform of the filtered signal of the duplexer is adjusted to the target waveform, which is as follows:
s50, connecting the standing wave instrument to the duplexer via the transmitter, and detecting the standing wave value of the duplexer at any time;
and S51, setting a standing wave threshold, and debugging the screw to be debugged on the duplexer by the manipulator according to the standing wave threshold until the standing wave value of the transmitting channel of the duplexer corresponds to the standing wave value of the receiving channel of the duplexer.
The duplexer is debugged by using the standing wave instrument, the standing wave instrument is connected with a transmitter in series to a port of the duplexer, an antenna with the frequency close to the use frequency is connected, the standing wave value of the duplexer is constantly detected, if the standing wave value is larger than a set standing wave threshold value, the screw precession distance corresponding to a transmitting channel of the duplexer is adjusted, the standing wave value is changed, the transmitting current of the duplexer is synchronously changed, after the transmitting channel of the duplexer is well adjusted, the standing wave value of the receiving channel of the duplexer is adjusted by repeating the steps due to the fact that the receiving channel may be poor, and the two channels are repeatedly adjusted in the same way until the frequency of the duplexer is consistent with the set frequency. Utilize the manipulator to adjust the duplexer, degree of automation is high, and is efficient, and control accuracy is high.
The above detailed description is provided for a manipulator-based duplexer debugging method according to an embodiment of the present application, and a specific example is applied in the detailed description to explain the principles and embodiments of the present application, and the description of the above embodiment is only used to help understand the method and the core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims (9)

1. A duplexer debugging method based on a manipulator is characterized by comprising the following steps:
acquiring screw information of a screw to be debugged on the duplexer, wherein the screw information comprises screw coordinates and screw types;
acquiring manipulator information, wherein the manipulator information comprises manipulator coordinates and screwdriver types;
obtaining a moving path of the manipulator according to the screw coordinate and the manipulator coordinate, and moving the manipulator to the position above the screw to be debugged according to the moving path;
selecting a corresponding screwdriver according to the type of the screw and the type of the screwdriver, pushing out the screwdriver by the manipulator, and screwing the screwdriver into the screw to be debugged;
and the manipulator sequentially debugs all the screws to be debugged on the duplexer until the waveform of the filtering signal of the duplexer is regulated to a target waveform.
2. The manipulator-based duplexer debugging method according to claim 1, wherein the step of obtaining information on the screws on the duplexer comprises:
shooting the surface of the duplexer to obtain a screw image;
matching the shape characteristics in the screw image with the shape characteristics of a standard screw to obtain the type of the screw;
and detecting the coordinates of the circle center of the screw in the screw image to obtain the coordinates of the screw.
3. The manipulator-based duplexer commissioning method of claim 2, wherein,
the shape feature in the screw image is a screw head feature, and is obtained according to the edge information of the screw head in the screw image.
4. The manipulator-based duplexer commissioning method of claim 2, wherein,
and calculating the center coordinates of the screw by using a circle positioning algorithm.
5. The manipulator-based duplexer debugging method according to claim 4, wherein the circle positioning algorithm obtains the circle center coordinate values of the screws respectively by a least square method and Hough transform, and obtains the circle center coordinates of the screws by adding and averaging the two circle center coordinate values.
6. The manipulator-based duplexer commissioning method of claim 3, wherein the screw type is obtained from edge information of a screw head.
7. The manipulator-based duplexer commissioning method of claim 2, wherein the step of obtaining the active path of the manipulator is as follows:
fixing an industrial camera on a manipulator, and calibrating the position relation between the industrial camera and the manipulator;
moving the manipulator to enable the industrial camera to respectively obtain a reference point on two opposite angles of the duplexer to obtain reference point coordinates;
and converting the circle center coordinate and the manipulator coordinate according to the reference point coordinate, wherein the circle center coordinate and the manipulator coordinate are positioned in the same coordinate system, and obtaining the moving path of the manipulator.
8. The manipulator-based duplexer tuning method of claim 7, wherein the two reference points are respectively a reference point at the upper left corner of the duplexer and a reference point at the upper right corner of the duplexer.
9. The manipulator-based duplexer debugging method according to claim 1, wherein the manipulator sequentially debugs all the screws to be debugged on the duplexer until the waveform of the filtered signal of the duplexer is adjusted to a target waveform, and the specific method is as follows:
connecting the standing wave instrument to the duplexer through a transmitter, and detecting the standing wave value of the duplexer at any time;
and setting a standing wave threshold value, and debugging the screw to be debugged by the mechanical arm according to the standing wave threshold value until the standing wave value of the transmitting channel of the duplexer corresponds to the standing wave value of the receiving channel of the duplexer.
CN202110616846.8A 2021-06-02 2021-06-02 Duplexer debugging method based on manipulator Pending CN113555659A (en)

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Application Number Priority Date Filing Date Title
CN202110616846.8A CN113555659A (en) 2021-06-02 2021-06-02 Duplexer debugging method based on manipulator

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201659526U (en) * 2010-03-09 2010-12-01 西南石油大学 Multifunctional quick-speed screwdriver with double handles
CN106514537A (en) * 2016-12-19 2017-03-22 北京小米移动软件有限公司 Screwdriver control method and device
CN108772824A (en) * 2018-06-06 2018-11-09 深圳市恒晨电器有限公司 A kind of screw machine hand teaching alignment method
CN110514906A (en) * 2019-08-19 2019-11-29 中国地质大学(武汉) High-precision Microwave cavity body filter adjustment method and system based on hand eye coordination
CN110690540A (en) * 2019-10-28 2020-01-14 武汉心浩智能科技有限公司 Automatic debugging device for double-channel filter
CN112312666A (en) * 2020-11-06 2021-02-02 浪潮电子信息产业股份有限公司 Circuit board screw driving method and system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201659526U (en) * 2010-03-09 2010-12-01 西南石油大学 Multifunctional quick-speed screwdriver with double handles
CN106514537A (en) * 2016-12-19 2017-03-22 北京小米移动软件有限公司 Screwdriver control method and device
CN108772824A (en) * 2018-06-06 2018-11-09 深圳市恒晨电器有限公司 A kind of screw machine hand teaching alignment method
CN110514906A (en) * 2019-08-19 2019-11-29 中国地质大学(武汉) High-precision Microwave cavity body filter adjustment method and system based on hand eye coordination
CN110690540A (en) * 2019-10-28 2020-01-14 武汉心浩智能科技有限公司 Automatic debugging device for double-channel filter
CN112312666A (en) * 2020-11-06 2021-02-02 浪潮电子信息产业股份有限公司 Circuit board screw driving method and system

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