阅读说明：本技术 基于手眼协调的高精度微波腔体滤波器调试方法及系统 (High-precision Microwave cavity body filter adjustment method and system based on hand eye coordination ) 是由 袁艳 姚朝龙 曹卫华 谭畅 李�杰 于 2019-08-19 设计创作，主要内容包括：本发明提供了一种基于手眼协调的高精度微波腔体滤波器调试方法及系统,利用工业相机采集微波腔体滤波器上所有待调螺钉的图像,利用边缘拟合圆方法对所有待调螺钉进行定位,得到每个待调螺钉的拟合圆和每个待调螺钉的中心位置坐标,进而得到每个待调螺钉的三维位置信息；根据图像识别技术,提取每个待调螺钉的凹槽角度；根据每个待调螺钉的三维位置信息和凹槽角度,利用四轴机械臂调节每个待调螺钉的螺钉中心与图像中心的距离；若调节后每个待调螺钉的中心位置坐标与该待调螺钉图像中心的距离均小于0.5像素,则四轴机械臂自动对微波腔体滤波器进行高精度调试。本发明的有益效果是：成本低,调试方便,提高了调试速度和调试精度,具有实用性。(The present invention provides a kind of High-precision Microwave cavity body filter adjustment method and system based on hand eye coordination, the image for needing to be adjusted screw on Microwave Cavity Filter is acquired using industrial camera, using edge fitting circle method to needing that screw is adjusted to position, the fitting circle and each center position coordinates of screw to be adjusted of each screw to be adjusted are obtained, and then obtains the three dimensional local information of each screw to be adjusted；According to image recognition technology, the FLUTE ANGLE of each screw to be adjusted is extracted；According to the three dimensional local information and FLUTE ANGLE of each screw to be adjusted, the screw center of each screw to be adjusted is adjusted at a distance from picture centre using four shaft mechanical arms；If each the center position coordinates of screw to be adjusted be respectively less than 0.5 pixel at a distance from the screw picture centre to be adjusted after adjusting, four shaft mechanical arms carry out high-precision debugging to Microwave Cavity Filter automatically.The beneficial effects of the present invention are: at low cost, debugging is convenient, improves debugging speed and adjustment accuracy, has practicability.)

1. a kind of High-precision Microwave cavity body filter adjustment method based on hand eye coordination is filtered using the High-precision Microwave cavity Device adjustment method is debugged automatically using four shaft mechanical arms, the four shaft mechanicals arm include upper and lower axle, Y-axis, antero posterior axis and Rotary shaft；Microwave Cavity Filter is rectangular parallelepiped structure, has several screws to be debugged on the Microwave Cavity Filter；It is special Sign is: the following steps are included:

S1: acquiring several images for needing to be adjusted screw on Microwave Cavity Filter using industrial camera, utilizes edge fitting circle Method obtains the fitting circle of each screw to be adjusted and the Two-dimensional Position of the screw each to be adjusted to needing that screw is adjusted to position Set coordinate；A clearest image is selected from several images, obtains industrial phase corresponding with the clearest image The position of machine obtains the height of each screw to be debugged according to the relationship of industrial camera and each screw to be debugged, And then obtain the three dimensional local information of the screw each to be adjusted；The three dimensional local information of the screw each to be adjusted namely described Each screw center of screw to be adjusted；

S2: image recognition technology is utilized, the FLUTE ANGLE of the screw each to be adjusted is extracted from clearest image；

S3: extracting the picture centre of the clearest image from image clearest in step S1, according to the screw each to be adjusted Screw center and FLUTE ANGLE, using the four shaft mechanicals arm adjust the screw each to be adjusted screw center and the figure The distance of inconocenter reduces the screw center of the screw each to be adjusted at a distance from described image center；

S4: judge the screw center of the screw each to be adjusted after each adjusting at a distance from described image center whether small Mr. Yu One presetted pixel；If so, arriving step S5；If it is not, then returning to step S1；

S5: it according to the requirement of the Microwave Cavity Filter performance indicator, is automatically performed and is needed using the four shaft mechanicals arm The debugging of screw is adjusted, that is, completes to debug the high-precision of Microwave Cavity Filter.

2. a kind of High-precision Microwave cavity body filter adjustment method based on hand eye coordination as described in claim 1, feature Be: in step S1, the industrial camera is mounted on the upper and lower axle mechanical arm tail end of the four shaft mechanicals arm.

3. a kind of High-precision Microwave cavity body filter adjustment method based on hand eye coordination as described in claim 1, feature Be: in step S1, using edge fitting circle method, to screw to be debugged positioning, detailed process is as follows:

S11: gray proces are carried out to every image in step S1, retain the luminance information of every image, and choose tool There is the ROI region of the image of luminance information；

S12: the disposal of gentle filter is carried out to the ROI region；

S13: dynamic threshold segmentation is carried out to the ROI region after the disposal of gentle filter using big law, obtains target area；

S14: Morphological scale-space is carried out to the edges of regions of the target area, and edge contour is split；

S15: the fitting of the circle of edge contour is carried out to the target area after morphology and dividing processing, obtains fitting circle, and root It screens to obtain the screw center of each screw to be debugged according to design requirement.

4. a kind of High-precision Microwave cavity body filter adjustment method based on hand eye coordination as described in claim 1, feature Be: in step S2, extracting the FLUTE ANGLE of each screw to be debugged using image recognition technology, detailed process is as follows:

S21: the fitting circle in obtaining step S1 carries out smothing filtering to the fitting circle and dynamic threshold segmentation is handled, will divide Obtained connected regions carry out connection, are not attached to region and are separated；

S22: the Liang Ge semicircle area on each screw surface to be debugged is filtered out by region area, sum of the grayscale values circular arc degree The regional perspective of the two half-circle areas is extracted in domain respectively；The average value of the two half-circle area angles is described each wait adjust The angle of thread of screw is tried, the angle of thread is FLUTE ANGLE.

5. a kind of High-precision Microwave cavity body filter adjustment method based on hand eye coordination as described in claim 1, feature Be: in step S2, the error range of the FLUTE ANGLE is ± 0.5 °.

6. a kind of High-precision Microwave cavity body filter adjustment method based on hand eye coordination as described in claim 1, feature Be: in step S3, a screw to be debugged is at least adjusted once, is adjusted the image that will be carried out in a step S1 every time and is adopted Collection.

7. a kind of High-precision Microwave cavity body filter adjustment method based on hand eye coordination as described in claim 1, feature Be: in step S4, a certain presetted pixel is 0.5 pixel.

8. a kind of High-precision Microwave cavity body filter debugging system based on hand eye coordination, the High-precision Microwave cavity body filter For rectangular parallelepiped structure；It is characterized by comprising Microwave Cavity Filter, vector network analysis with several screws to be debugged Instrument, motion control card, four shaft mechanical arms and computer；The shaft end up and down of the four shaft mechanicals arm is equipped with screwdriver rotary shaft And screwdriver, the upper and lower axle mechanical arm tail end of the four shaft mechanicals arm are equipped with industrial camera；

The industrial camera, for acquiring several images for needing to be adjusted screw on Microwave Cavity Filter；

The computer includes debugging algorithm module, visual identity module and motion-control module；The motion-control module packet Include judging unit and PID control unit；The calculator memory contains screw center and the FLUTE ANGLE of each screw to be debugged, And real-time update is carried out to the screw center of each screw to be debugged；It is also stored in the computer in several images most For the picture centre of a clearly image；The computer is used to export the Debugging message of each screw to be debugged and issues tune Examination instruction controls the four shaft mechanicals arm and is debugged accordingly；The debugging algorithm module is used to export each screw to be debugged Debugging message, the visual identity module be used to obtain in real time each screw to be debugged screw center and each spiral shell to be debugged Follow closely corresponding FLUTE ANGLE；

The industrial camera and the vector network analyzer, which are established, to be communicated to connect, the vector network analyzer and the calculating Machine establishes communication connection, is equipped with the motion control card in the computer；

The motion control card, for controlling automatic debugging of the four shaft mechanicals arm to each screw to be debugged；

The vector network analyzer acquisition needs to be adjusted length of the screw in the Microwave Cavity Filter, and described in output The S parameter of Microwave Cavity Filter, the S parameter are used to reflect the performance of the Microwave Cavity Filter；The vector network point Default capabilities index is stored in analyzer, and the difference of the S parameter of output and the default capabilities index is input to the calculating Machine exports the Debugging message of each screw to be debugged using the debugging algorithm module in the computer；The movement control Molding block receives the Debugging message；

The judging unit calls the screw center of each screw to be debugged, and successively judges in the screw of each screw to be debugged Whether the heart is less than a certain presetted pixel at a distance from picture centre；

If so, the four shaft mechanicals arm receives each of described visual identity module transmission wait adjust by the motion control card The screw center of screw and the instruction of the corresponding FLUTE ANGLE of each screw to be debugged are tried, the screwdriver is adjusted and is agreed with into working as In preceding screw to be debugged；Meanwhile the four shaft mechanicals arm successively receives the motion-control module by the motion control card The debugging instruction of the Debugging message of transmission, the four shaft mechanicals arm carry out certainly current screw to be debugged according to the debugging instruction Dynamic debugging；

If it is not, then PID control unit adjusts and works as according to the screw center of current screw to be debugged and the difference transmission of picture centre The regulating command of preceding screw to be debugged is transmitted to the four shaft mechanicals arm by the motion control card, controls the four axis machine Tool arm adjusts the screw center of current screw to be debugged, makes the screw center of current screw to be debugged close to described image center； The adjusting at every screw center for completing primary current screw to be debugged, the judging unit execution once obtain updated current The screw center of screw to be debugged, and judge the screw center of the updated current screw to be debugged whether be less than it is described certain The operation of one presetted pixel, until the screw center of current screw to be debugged is less than a certain presetted pixel；

The computer issues control instruction by the motion control card and controls the four shaft mechanicals arm successively to spiral shell to be debugged Nail is debugged automatically, until the Microwave Cavity Filter reaches the performance indicator of requirement；The control instruction includes described The finger of each of the visual identity module transmission screw center of screw to be debugged and the corresponding FLUTE ANGLE of each screw to be debugged Enable the debugging instruction of the Debugging message sent with the motion-control module.

9. a kind of High-precision Microwave cavity body filter debugging system based on hand eye coordination as claimed in claim 8, feature Be: several screws to be debugged are located at the upper surface of Microwave Cavity Filter, and several screws to be debugged are different in size； The a certain presetted pixel is 0.5 pixel.

Technical field

The present invention relates to Microwave Cavity Filter debugging technique fields, more particularly to the High-precision Microwave based on hand eye coordination Cavity body filter adjustment method and system.

Background technique

With the rapid development of information industry, wireless communication technique has become 21 century most popular one of technology, and micro- Wave cavity body filter has received widespread attention as frequency selective device crucial in wireless communication system.Because it was fabricated Reasons, the later period debugging of Microwave Cavity Filter are essential there are tolerance and metal Tu layer characteristic be variant etc. for journey.For a long time Since, the debugging of Microwave Cavity Filter is mostly had been manually done by experienced technical staff, still, manual debugging blindness Greatly, debugging cycle length, high production cost, inefficient manual debugging mode have become the bottle of Microwave Cavity Filter batch production Neck, so, developing a set of flexible, efficient cavity body filter debugging system is particularly important.

Microwave Cavity Filter surface, for debugging, changes the length of screw rod in the cavity by rotary screw equipped with screw Degree, and then the resonance frequency and electromagnetic coupling strengths of Microwave Cavity Filter can be changed.The number of screws up to dozens of and They are densely distributed, screw it is different because acting on due to length difference and debugging process in screw length can change, therefore debugging process The middle position coordinates for obtaining screw and elevation information are extremely difficult.Again because Microwave Cavity Filter is many kinds of, different model Microwave Cavity Filter architectural difference it is very big and variant with screw position between model Different Individual, therefore microwave cavity is filtered Wave device debugging system not only has high-precision debugging demand, should also have preferably adaptability and flexibility.

High-precision Microwave cavity body filter debugging system, publication date of the Publication No. CN106814307 based on hand eye coordination Need to establish cavity body filter coordinate system for the Chinese patent on June 9th, 2017, and need according to Engineering Documents to its into Row correction, while needing to pre-establish Z coordinate altitude record file, need not stop to update desired height position letter in debugging process Breath, the process very complicated spend the time longer.For different model and with model Different Individual cavity body filter, weight is needed Coordinate system and replacement Engineering Documents are newly established, human factor is affected, and flexibility is lower, and the degree of automation is not high enough.

High-precision Microwave cavity body filter debugging system, publication date of the Publication No. CN107576857 based on hand eye coordination Mechanical arm, intelligent fixture, Network Analyzer, PLC is mainly used to control equipment, meter for the Chinese patent on January 12nd, 2018 Calculation machine etc. realizes the automatic debugging of cavity body filter.But the debugging system higher cost, for different model and same model Different Individual cavity body filter, fixture needs are adjusted correspondingly or replace, for the nuance of same model Different Individual, System cannot make corresponding adjustment in time, and the set expandability and adaptability are lower, be unable to Real-time Feedback manipulator motion shape State and position lack certain emergency protection ability.

Currently, manual debugging is still that Microwave Cavity Filter debugs most common mode, but its debugging blindness is big, debugging Time is long, debugging cost is high, seriously hinders Microwave Cavity Filter mass production, there is also some automatic debugging systems, But they are just for relatively simple Microwave Cavity Filter, stronger to the dependence of individual, do not carry out large-scale promotion.

Summary of the invention

To solve the above-mentioned problems, for different model and with model Different Individual Microwave Cavity Filter, one is developed Flexible, efficient Microwave Cavity Filter debugging system is covered, the debugging system is using monocular trick four shaft mechanical arms of one to micro- The tuning screw of wave cavity body filter is debugged, and is realized using image recognition and hand eye coordination technology to Microwave Cavity Filter Quick and accurate debugging, a kind of feasible scheme is provided to the processing and debugging of similar industrial devices.Therefore, the present invention mentions A kind of High-precision Microwave cavity body filter adjustment method and system based on hand eye coordination is supplied.A kind of height based on hand eye coordination Precision Microwave Cavity Filter adjustment method, mainly comprises the steps that

S1: acquiring several images for needing to be adjusted screw on Microwave Cavity Filter using industrial camera, quasi- using edge Circle method is closed to needing that screw is adjusted to position, obtain each screw to be adjusted fitting circle and the screw each to be adjusted two Tie up position coordinates；A clearest image is selected from several images, obtains work corresponding with the clearest image The position of industry camera obtains each screw to be debugged according to the relationship of industrial camera and each screw to be debugged Highly, and then the three dimensional local information of the screw each to be adjusted is obtained；The three dimensional local information of the screw each to be adjusted The screw center of the i.e. described screw each to be adjusted；

S2: image recognition technology is utilized, the FLUTE ANGLE of the screw each to be adjusted is extracted from clearest image；

S3: extracting the picture centre of the clearest image from image clearest in step S1, according to described each wait adjust The screw center of screw and FLUTE ANGLE adjust screw center and the institute of the screw each to be adjusted using the four shaft mechanicals arm The distance for stating picture centre reduces the screw center of the screw each to be adjusted at a distance from described image center；

S4: judge whether the screw center of the screw each to be adjusted after each adjusting is small at a distance from described image center In a certain presetted pixel；If so, arriving step S5；If it is not, then returning to step S1；

S5: according to the requirement of the Microwave Cavity Filter performance indicator, institute is automatically performed using the four shaft mechanicals arm Need to be adjusted the debugging of screw, that is, completes to debug the high-precision of Microwave Cavity Filter.

Further, the industrial camera is mounted on the upper and lower axle mechanical arm tail end of the four shaft mechanicals arm.

Further, using edge fitting circle method, to screw to be debugged positioning, detailed process is as follows:

S11: gray proces are carried out to every image in step S1, retain the luminance information of every image, and are selected Take the ROI region of the image with luminance information；

S12: the disposal of gentle filter is carried out to the ROI region；

S13: dynamic threshold segmentation is carried out to the ROI region after the disposal of gentle filter using big law, obtains target area；

S14: Morphological scale-space is carried out to the edges of regions of the target area, and edge contour is split；

S15: carrying out the fitting of the circle of edge contour to the target area after morphology and dividing processing, obtain fitting circle, And it is screened to obtain the screw center of each screw to be debugged according to design requirement.

Further, the detailed process of the FLUTE ANGLE of each screw to be debugged is extracted using image recognition technology such as Under:

S21: the fitting circle in obtaining step S1 carries out smothing filtering to the fitting circle and dynamic threshold segmentation is handled, will Divide obtained connected regions and carry out connection, is not attached to region and separated；

S22: two and half on each screw surface to be debugged are filtered out by region area, sum of the grayscale values circular arc degree Circle region, extracts the regional perspective of the two half-circle areas respectively；The average value of the two half-circle area angles is described each The angle of thread of screw to be debugged, the angle of thread are FLUTE ANGLE.

Further, the error range of the FLUTE ANGLE is ± 0.5 °.

Further, a screw to be debugged is at least adjusted once, adjusts the figure that will be carried out in a step S1 every time As acquisition.

Further, a certain presetted pixel is 0.5 pixel.

A kind of High-precision Microwave cavity body filter debugging system based on hand eye coordination, the High-precision Microwave cavity filtering Device is rectangular parallelepiped structure；Including Microwave Cavity Filter, vector network analyzer, motion control with several screws to be debugged Card, four shaft mechanical arms and computer；The shaft end up and down of the four shaft mechanicals arm is equipped with screwdriver rotary shaft and screwdriver, institute The upper and lower axle mechanical arm tail end for stating four shaft mechanical arms is equipped with industrial camera；

The industrial camera, for acquiring several images for needing to be adjusted screw on Microwave Cavity Filter；

The computer includes debugging algorithm module, visual identity module and motion-control module；The motion control mould Block includes judging unit and PID control unit；The calculator memory contains screw center and the groove of each screw to be debugged Angle, and real-time update is carried out to the screw center of each screw to be debugged；Several figures are also stored in the computer The most clearly picture centre of an image as in；The computer is used to export the Debugging message of each screw to be debugged simultaneously The debugging instruction control four shaft mechanicals arm is issued to be debugged accordingly；The debugging algorithm module is used to export each wait adjust Try screw Debugging message, the visual identity module be used to obtain in real time each screw to be debugged screw center and each to Debug the corresponding FLUTE ANGLE of screw；

The industrial camera and the vector network analyzer, which are established, to be communicated to connect, the vector network analyzer with it is described Computer establishes communication connection, is equipped with the motion control card in the computer；

The motion control card, for controlling automatic debugging of the four shaft mechanicals arm to each screw to be debugged；

The vector network analyzer acquisition needs to be adjusted length of the screw in the Microwave Cavity Filter, and exports The S parameter of the Microwave Cavity Filter, the S parameter are used to reflect the performance of the Microwave Cavity Filter；The vector net Default capabilities index is stored in network analyzer, the difference of the S parameter of output and the default capabilities index is input to described Computer exports the Debugging message of each screw to be debugged using the debugging algorithm module in the computer；The fortune Dynamic control module receives the Debugging message；

The judging unit calls the screw center of each screw to be debugged, and successively judges the spiral shell of each screw to be debugged Whether nail center is less than a certain presetted pixel at a distance from picture centre；A certain presetted pixel described in the present embodiment is 0.5 picture Element；

If so, the four shaft mechanicals arm receives each of described visual identity module transmission by the motion control card The instruction of the screw center of screw to be debugged and the corresponding FLUTE ANGLE of each screw to be debugged, adjusts the screwdriver and agrees with Into in current screw to be debugged；Meanwhile the four shaft mechanicals arm successively receives the motion control by the motion control card The debugging instruction for the Debugging message that module is sent, the four shaft mechanicals arm according to the debugging instruction to current screw to be debugged into The automatic debugging of row；

If it is not, then PID control unit sends and adjusts according to the screw center of current screw to be debugged and the difference of picture centre The regulating command for saving current screw to be debugged is transmitted to the four shaft mechanicals arm, control described four by the motion control card Shaft mechanical arm adjusts the screw center of current screw to be debugged, makes the screw center of current screw to be debugged in described image The heart；The adjusting at every screw center for completing primary current screw to be debugged, the judging unit execution once obtain updated The screw center of current screw to be debugged, and judge whether the screw center of the updated current screw to be debugged is less than institute The operation for stating a certain presetted pixel, until the screw center of current screw to be debugged is less than a certain presetted pixel；

The computer issues the control instruction control four shaft mechanicals arm by the motion control card and successively treats tune Examination screw is debugged automatically, until the Microwave Cavity Filter reaches the performance indicator of requirement；The control instruction includes Each of the visual identity module transmission screw center of screw to be debugged and the corresponding FLUTE ANGLE of each screw to be debugged Instruction and the motion-control module send Debugging message debugging instruction.

Further, several screws to be debugged are located at the upper surface of Microwave Cavity Filter, described several to be debugged Screw is different in size；The a certain presetted pixel is 0.5 pixel.

Technical solution provided by the invention has the benefit that at low cost, and debugging is convenient, improve debugging speed and Adjustment accuracy has practicability and applicability.

Detailed description of the invention

Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:

Fig. 1 is a kind of stream of the High-precision Microwave cavity body filter adjustment method based on hand eye coordination in the embodiment of the present invention Cheng Tu；

Fig. 2 is the flow chart of screw to be debugged positioning in the embodiment of the present invention；

Fig. 3 is the flow chart that the FLUTE ANGLE of screw to be debugged is extracted in the embodiment of the present invention；

Fig. 4 is regional perspective schematic diagram in the embodiment of the present invention；

Fig. 5 is concave angle of the v-groove schematic diagram of the embodiment of the present invention；

Fig. 6 is that a kind of High-precision Microwave cavity body filter debugging system based on hand eye coordination is shown in the embodiment of the present invention It is intended to；

Fig. 7 is several screw schematic diagrames to be debugged in the embodiment of the present invention.

Specific embodiment

For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail A specific embodiment of the invention.

The High-precision Microwave cavity body filter adjustment method that the embodiment provides a kind of based on hand eye coordination and System.

Referring to FIG. 1, Fig. 1 is a kind of High-precision Microwave cavity body filter tune based on hand eye coordination in the embodiment of the present invention The flow chart of method for testing, specifically comprises the following steps:

S1: acquiring several images for needing to be adjusted screw on Microwave Cavity Filter using industrial camera, quasi- using edge Circle method is closed to needing that screw is adjusted to position, obtain each screw to be adjusted fitting circle and the screw each to be adjusted two Tie up position coordinates；A clearest image is selected from several images, obtains work corresponding with the clearest image The position of industry camera obtains each screw to be debugged according to the relationship of industrial camera and each screw to be debugged Highly, and then the three dimensional local information of the screw each to be adjusted is obtained；The three dimensional local information of the screw each to be adjusted The screw center of the i.e. described screw each to be adjusted；

As shown in Fig. 2, to screw to be debugged positioning, detailed process is as follows using edge fitting circle method:

S11: gray proces are carried out to every image in step S1, retain the luminance information of every image, and are selected Take the ROI region of the image with luminance information；

S12: the disposal of gentle filter is carried out to the ROI region；

S13: dynamic threshold segmentation is carried out to the ROI region after the disposal of gentle filter using big law, obtains target area；

S14: Morphological scale-space is carried out to the edges of regions of the target area, and edge contour is split；

S15: carrying out the fitting of the circle of edge contour to the target area after morphology and dividing processing, obtain fitting circle, And it is screened to obtain the screw center of each screw to be debugged according to design requirement.

S2: image recognition technology is utilized, the FLUTE ANGLE of the screw each to be adjusted is extracted from clearest image；Such as Shown in Fig. 3, extracting the FLUTE ANGLE of each screw to be debugged using image recognition technology, detailed process is as follows:

S21: the fitting circle in obtaining step S1 carries out smothing filtering to the fitting circle and dynamic threshold segmentation is handled, will Divide obtained connected regions and carry out connection, is not attached to region and separated；

S22: two and half on each screw surface to be debugged are filtered out by region area, sum of the grayscale values circular arc degree Circle region, extracts the regional perspective of the two half-circle areas, as shown in Figure 4 respectively；The average value of the two half-circle area angles For the angle of thread of each screw to be debugged, the angle of thread is FLUTE ANGLE, as shown in Figure 5；The region angle Degree refers to the angle of the half-circle area center line and a certain reference axis parallel with the diameter side of half-circle area.

According to the chimeric specific requirements of mechanical arm in debugging apparatus and debugging process and screw to be debugged, screw to be debugged is recessed Angle of the v-groove error range is ± 0.5 °, and it is valid data that FLUTE ANGLE, which extracts result to be located in error range, can be accurately It is debugged.Using above-mentioned FLUTE ANGLE extracting method, extracting result effective percentage is 98.72%, it may be said that bright to pass through this method The authenticity and validity of the angle of thread data of acquisition can satisfy the flexibility and accuracy requirement of debugging system completely；

S3: extracting the picture centre of the clearest image from image clearest in step S1, according to described each wait adjust The screw center of screw and FLUTE ANGLE adjust screw center and the institute of the screw each to be adjusted using the four shaft mechanicals arm The distance for stating picture centre reduces the screw center of the screw each to be adjusted at a distance from described image center；This process In, the position on filter of screw to be debugged does not change, but makes industrial phase by the movement of the four shaft mechanicals arm The position of machine changes, and then adjusts the screw center of the screw each to be adjusted at a distance from described image center；This hair Distance involved in bright is unified as unit of pixel；One screw to be debugged is at least adjusted once, and debugging will carry out one every time Image Acquisition in secondary step S1；

S4: judge whether the screw center of the screw each to be adjusted after each adjusting is small at a distance from described image center In a certain presetted pixel；If so, arriving step S5；If it is not, then returning to step S1；A certain presetted pixel described in the present embodiment is 0.5 pixel；If so, arriving step S5；If it is not, then returning to step S1；

S5: the screwdriver of the four shaft mechanicals arm end agrees with into described each wait adjust in screw, according to the microwave cavity The requirement of fluid filter performance indicator, the automatic debugging for carrying out needing to be adjusted screw, is completed to the high-precision of Microwave Cavity Filter Degree debugging.

The relative dimensional location information and FLUTE ANGLE information of screw to be debugged are successfully extracted by visual identity, these Information is used to refer to lead the progress screw debugging of four shaft mechanical arms, however the motion control of four shaft mechanical arms is needed relative to machinery The location coordinate information of arm pedestal instructs, and obtained in step S1 is three-dimensional position of the screw to be debugged in image coordinate system Coordinate is set, needs to convert image coordinate system and mechanical arm basis coordinates system at this time, it is therefore desirable to carry out hand eye coordination, also It is to realize camera and mechanical arm integration, to realize the quickly and accurately debugging of Microwave Cavity Filter.

Hand eye coordination is typically all to be realized by hand and eye calibrating, but since hand and eye calibrating process is excessively complicated, demarcate Precision is relatively low, and scaling board is expensive, and the reasons such as artifical influence factor is larger.In order to meet the flexibility of debugging system And accuracy requirement, propose a kind of hand eye coordination method based on image feedback.Hand eye coordination based on image feedback is in step It is realized on the basis of rapid S1 and S2, the three-dimensional location coordinates information of screw to be debugged is got using screw positioning, by figure As feedback is to realize hand eye coordination.It is acquisition image first, edge circle fitting is carried out to screw to be debugged, obtains screw to be debugged Center position coordinates；Next, calculating the difference of center position coordinates and picture centre and judging the difference whether in 0.5 picture Within element (being less than the numerical value in debugging system can consider that screw center and picture centre are overlapped), pass through if being unsatisfactory for PID control mechanical arm constantly moves, and constantly acquires image and carries out round process of fitting treatment to image, until the two difference is less than 0.5 Pixel.When the two difference is met the requirements because in debugging system camera and mechanical arm tail end relative position be it is invariable, So the distance of mechanical arm to picture centre be also it is fixed, just only need at this time the mobile fixed distance of mechanical arm can reach to Screw center is debugged, to realize hand eye coordination.

It is 0.457 pixel, entire trick mark by calculating the average hand eye coordination error of acquisition in practical debugging process Constant current journey is spent time-consuming for 10s.It is compared with traditional hand and eye calibrating method, such as OpenCV calibration, Halcon calibration, this method It does not need not only to carry out camera calibration, process is simple to operation, without expensive scaling board, is suitable for different model and same model The Microwave Cavity Filter of Different Individual can be improved the flexibility of debugging system, and it spends the time shorter, and error is more It is small, therefore can be realized and rapidly and accurately debug.

After computer assigns debugging instruction, the executing agency in debugging system can rapidly and accurately reach targeted screw It is simultaneously debugged position.Four shaft mechanical arms can not only accurately carry out debugging instruction, but also debugging result can be carried out quasi- It really feeds back, computer assigns debugging instruction according to feedback information again.Operation more than repeating, until microwave cavity filters Until device meets the requirements the performance indicator reached.

The above-mentioned High-precision Microwave cavity body filter adjustment method based on hand eye coordination is based on following a kind of based on hand The High-precision Microwave cavity body filter debugging system of eye coordinate.

Referring to FIG. 6, Fig. 6 is a kind of High-precision Microwave cavity body filter tune based on hand eye coordination in the embodiment of the present invention The schematic diagram of test system, including with vector network analyzer, motion control card, debugging apparatus and computer；The debugging turns It sets including four shaft mechanical arms, industrial camera, the Microwave Cavity Filter of several screws to be debugged as shown in Figure 7 and support microwave Cavity body filter equipment；Several screws to be debugged are located at the upper surface of Microwave Cavity Filter, several spiral shells to be debugged It follows closely different in size；The shaft end up and down of the four shaft mechanicals arm is equipped with screwdriver rotary shaft and screwdriver, four shaft mechanical The upper and lower axle mechanical arm tail end of arm is equipped with industrial camera；

The computer includes debugging algorithm module, visual identity module and motion-control module；The motion control mould Block includes judging unit and PID control unit；The calculator memory contains screw center and the groove of each screw to be debugged Angle, and real-time update is carried out to the screw center of each screw to be debugged；Several figures are also stored in the computer The most clearly picture centre of an image as in；The computer is used to export the Debugging message of each screw to be debugged simultaneously The debugging instruction control four shaft mechanicals arm is issued to be debugged accordingly；The debugging algorithm module is used to export each wait adjust Try screw Debugging message, the visual identity module be used to obtain in real time each screw to be debugged screw center and each to Debug the corresponding FLUTE ANGLE of screw；The error range of the FLUTE ANGLE is ± 0.5 °；

The industrial camera, for acquiring several images for needing to be adjusted screw on Microwave Cavity Filter；

The industrial camera and the vector network analyzer, which are established, to be communicated to connect, the vector network analyzer with it is described Computer establishes communication connection, is equipped with the motion control card in the computer；

The four shaft mechanicals arm, for adjusting each screw to be debugged；

The vector network analyzer, for exporting the S parameter of the Microwave Cavity Filter；

The motion control card, for controlling automatic debugging of the four shaft mechanicals arm to each screw to be debugged；

The vector network analyzer acquisition needs to be adjusted length of the screw in the Microwave Cavity Filter, and exports The S parameter of the Microwave Cavity Filter, the S parameter are used to reflect the performance of the Microwave Cavity Filter；The vector net Default capabilities index is stored in network analyzer, the difference of the S parameter of output and the default capabilities index is input to described Computer exports the Debugging message of each screw to be debugged using the debugging algorithm module in the computer；The fortune Dynamic control module receives the Debugging message；

The judging unit calls the screw center of each screw to be debugged, and successively judges the spiral shell of each screw to be debugged Whether nail center is less than a certain presetted pixel at a distance from picture centre；The a certain presetted pixel described in the present embodiment is 0.5 Pixel；

If so, the four shaft mechanicals arm receives each of described visual identity module transmission by the motion control card The instruction of the screw center of screw to be debugged and the corresponding FLUTE ANGLE of each screw to be debugged, adjusts the screwdriver and agrees with Into in current screw to be debugged；Meanwhile the four shaft mechanicals arm successively receives the motion control by the motion control card The debugging instruction for the Debugging message that module is sent, the four shaft mechanicals arm according to the debugging instruction to current screw to be debugged into The automatic debugging of row；

If it is not, then PID control unit sends and adjusts according to the screw center of current screw to be debugged and the difference of picture centre The regulating command for saving current screw to be debugged is transmitted to the four shaft mechanicals arm, control described four by the motion control card Shaft mechanical arm adjusts the screw center of current screw to be debugged, makes the screw center of current screw to be debugged close to picture centre； The adjusting at every screw center for completing primary current screw to be debugged, the judging unit execution once obtain updated current The screw center of screw to be debugged, and judge the screw center of the updated current screw to be debugged whether be less than it is described certain One presetted pixel；If so, the four shaft mechanicals arm receives what the visual identity module was sent by the motion control card The instruction of the screw center of each screw to be debugged and the corresponding FLUTE ANGLE of each screw to be debugged, adjusts the screwdriver simultaneously Agree with into current screw to be debugged；Meanwhile the four shaft mechanicals arm successively receives the movement by the motion control card The debugging instruction for the Debugging message that control module is sent, the four shaft mechanicals arm is according to the debugging instruction to current spiral shell to be debugged Nail is debugged automatically；If it is not, then the PID control unit is according to the screw center of current screw to be debugged and picture centre Difference sends the regulating command for adjusting current screw to be debugged, is transmitted to the four shaft mechanicals arm by the motion control card, The screw center that the four shaft mechanicals arm adjusts current screw to be debugged is controlled, keeps the screw center of current screw to be debugged close Picture centre；Until the screw center of current screw to be debugged is less than a certain presetted pixel；

The computer issues the control instruction control four shaft mechanicals arm by the motion control card and successively treats tune Examination screw is debugged automatically, until the Microwave Cavity Filter reaches the performance indicator of requirement；The control instruction includes Each of the visual identity module transmission screw center of screw to be debugged and the corresponding FLUTE ANGLE of each screw to be debugged Instruction and the motion-control module send Debugging message debugging instruction.

The beneficial effects of the present invention are: at low cost, debugging is convenient, improves debugging speed and adjustment accuracy, has practical Property and applicability.

The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.