阅读说明：本技术 基于机械手的双工器调试系统 (Duplexer debugging system based on manipulator ) 是由 余五新 张延河 轩亮 洪文雄 沈永康 于 2021-06-02 设计创作，主要内容包括：本申请提供一种基于机械手的双工器调试系统,应用于双工器调试,系统包括：机器视觉系统用于对双工器进行拍照,采集双工器上待调试螺钉的螺钉信息；机械手,机械手包括多轴定位模块和安装于多轴定位模块工作端的扭螺丝模块,多轴定位模块用于获得机械手坐标；处理单元,用于根据螺钉坐标和机械手坐标,获得机械手的活动路径,并根据活动路径移动机械手,扭螺丝模块根据螺钉类型选择相应的螺丝刀旋进待调试螺钉；输出单元,用于控制机械手依次调试双工器上的所有待调试螺钉,直至将双工器的过滤信号的波形调节至目标波形。本申请根据机械手自动定位双工器上的螺钉,并完成双工器的调试,自动化程度高,双工器调试精度高、效率高。(The application provides a duplexer debugging system based on manipulator is applied to the duplexer debugging, and the system includes: the machine vision system is used for photographing the duplexer and acquiring the screw information of a screw to be debugged on the duplexer; the manipulator comprises a multi-axis positioning module and a screw twisting module arranged at the working end of the multi-axis positioning module, and the multi-axis positioning module is used for obtaining the coordinates of the manipulator; the processing unit is used for obtaining a moving path of the manipulator according to the screw coordinate and the manipulator coordinate, moving the manipulator according to the moving path, and selecting a corresponding screwdriver by the screw twisting module according to the screw type to screw in a screw to be debugged; and the output unit is used for controlling the manipulator to sequentially debug all the screws to be debugged on the duplexer 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.)

1. The utility model provides a duplexer debugging system based on manipulator, is applied to the duplexer debugging, its characterized in that, the system includes:

the machine vision system is used for photographing the duplexer and acquiring the screw information of a screw to be debugged on the duplexer, wherein the screw information comprises screw coordinates and screw types;

the manipulator comprises a multi-axis positioning module and a screw twisting module arranged at the working end of the multi-axis positioning module, and the multi-axis positioning module is used for obtaining the coordinates of the manipulator;

the machine vision system and the manipulator are respectively connected with the processing unit, the processing unit is used for obtaining a moving path of the manipulator according to the screw coordinate and the manipulator coordinate, the manipulator is moved to a position of a screw to be debugged according to the moving path, and the screw twisting module pushes out a corresponding screwdriver according to the type of the screw to be debugged and screws into the screw to be debugged;

and the output unit is used for controlling the manipulator to sequentially debug all the screws to be debugged on the duplexer until the waveforms of the filtering signals of the duplexer are adjusted to target waveforms.

2. The manipulator-based duplexer commissioning system of claim 1, wherein the machine vision system comprises:

the image acquisition unit is used for shooting the surface of the duplexer to obtain a screw image;

the image preprocessing unit is used for matching the shape characteristics in the screw image with the shape characteristics of a standard screw, determining the type of the screw and obtaining a screw preprocessing image;

and the image processing unit is used for detecting the center coordinates of the screw in the screw preprocessing image to obtain screw coordinates.

3. The manipulator-based duplexer commissioning system of claim 2, wherein,

the image preprocessing unit includes:

the characteristic extraction submodule is used for extracting the edge information of the head of the screw in the screw image to obtain the head characteristic;

the characteristic matching submodule is used for matching the head characteristic with the head shape characteristic of a standard screw to determine the type of the screw;

and the preprocessing submodule is used for performing expansion processing and water overflowing filling on the edge graph of the head part of the screw to obtain a screw preprocessing image.

4. The manipulator-based duplexer commissioning system of claim 2, wherein,

and the image processing unit calculates the center coordinates of the screw through a circle positioning algorithm.

5. The manipulator-based duplexer debugging system according to claim 4, wherein the circle positioning algorithm obtains the coordinates of the center of the circle of the screw by a least square method and hough transform, respectively, and adds the two coordinates of the center of the circle to obtain the coordinates of the center of the circle of the screw.

6. The manipulator-based duplexer commissioning system of claim 2, wherein the processing unit comprises:

the calibration subunit is used for calibrating the position relationship between the image acquisition unit and the manipulator;

the coordinate transformation unit is used for controlling the mobile manipulator to enable the image acquisition unit to respectively obtain a reference point on two opposite angles of the duplexer to obtain a reference point coordinate, and transforming a circle center coordinate and a manipulator coordinate according to the reference point coordinate to enable the circle center coordinate and the manipulator coordinate to be located in the same coordinate system to obtain a moving path of the manipulator;

and the manipulator control unit is used for moving the screw twisting module to the position of the screw to be debugged according to the moving path, the screw twisting module selects a corresponding screwdriver according to the type of the screw, and the screw twisting module pushes out the screwdriver to screw in the screw to be debugged.

7. The manipulator-based duplexer commissioning system of claim 6, wherein the two reference points are reference points for the upper left corner of the duplexer and the upper right corner of the duplexer, respectively.

8. The manipulator-based duplexer debugging system according to claim 1, wherein the screw twisting module comprises a push-out component and an electric screwdriver component, the push-out component is used for controlling the electric screwdriver component to act, and the electric screwdriver component is used for realizing the knob function of the screw to be debugged.

9. The manipulator-based duplexer commissioning system of claim 1, wherein the output unit comprises:

the standing wave instrument is connected to the duplexer through a transmitter and is used for detecting the standing wave value of the duplexer at any time;

the debugging subunit is provided with a standing wave threshold value, and is used for controlling the manipulator to debug the screws to be debugged on the duplexer according to the standing wave threshold value, and the standing wave value of the duplexer transmitting channel corresponds to the standing wave value of the duplexer receiving channel.

Technical Field

The application belongs to the technical field of duplexer debugging, and particularly relates to a duplexer debugging system 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 system based on manipulator to solve the problem that the debugging precision is low that wastes time and energy that current manual debugging duplexer caused.

The embodiment of the application provides a duplexer debugging system based on manipulator, is applied to the duplexer debugging, the system includes:

the machine vision system is used for photographing the duplexer and acquiring the screw information of a screw to be debugged on the duplexer, wherein the screw information comprises screw coordinates and screw types;

the manipulator comprises a multi-axis positioning module and a screw twisting module arranged at the working end of the multi-axis positioning module, and the multi-axis positioning module is used for obtaining the coordinates of the manipulator;

the machine vision system and the manipulator are respectively connected with the processing unit, the processing unit is used for obtaining a moving path of the manipulator according to the screw coordinate and the manipulator coordinate, the manipulator is moved to a position of a screw to be debugged according to the moving path, and the screw twisting module pushes out a corresponding screwdriver according to the type of the screw to be debugged and screws into the screw to be debugged;

and the output unit is used for controlling the manipulator to sequentially debug all the screws to be debugged on the duplexer until the waveforms of the filtering signals of the duplexer are adjusted to target waveforms.

Optionally, the machine vision system comprises:

the image acquisition unit is used for shooting the surface of the duplexer to obtain a screw image;

the image preprocessing unit is used for matching the shape characteristics in the screw image with the shape characteristics of a standard screw, determining the type of the screw and obtaining a screw preprocessing image;

and the image processing unit is used for detecting the center coordinates of the screw in the screw preprocessing image to obtain screw coordinates.

Optionally, the image preprocessing unit includes:

the characteristic extraction submodule is used for extracting the edge information of the head of the screw in the screw image to obtain the head characteristic;

the characteristic matching submodule is used for matching the head characteristic with the head shape characteristic of a standard screw to determine the type of the screw;

and the preprocessing submodule is used for performing expansion processing and water overflowing filling on the edge graph of the head part of the screw to obtain a screw preprocessing image.

Optionally, the image processing unit calculates the coordinates of the center of the circle of the screw by using 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.

Optionally, the processing unit includes:

the calibration subunit is used for calibrating the position relationship between the image acquisition unit and the manipulator;

the coordinate transformation unit is used for controlling the mobile manipulator to enable the image acquisition unit to respectively obtain a reference point on two opposite angles of the duplexer to obtain a reference point coordinate, and transforming a circle center coordinate and a manipulator coordinate according to the reference point coordinate to enable the circle center coordinate and the manipulator coordinate to be located in the same coordinate system to obtain a moving path of the manipulator;

and the manipulator control unit is used for moving the screw twisting module to the position of the screw to be debugged according to the moving path, the screw twisting module selects a corresponding screwdriver according to the type of the screw, and the screw twisting module pushes out the screwdriver to screw in the screw to be debugged.

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 screw twisting module comprises a push-out component and an electric screwdriver component, the push-out component is used for controlling the electric screwdriver component to act, and the electric screwdriver component is used for achieving a knob function of a screw to be debugged.

Optionally, the output unit includes:

the standing wave instrument is connected to the duplexer through a transmitter and is used for detecting the standing wave value of the duplexer at any time;

the debugging subunit is provided with a standing wave threshold value, and is used for controlling the manipulator to debug the screws to be debugged on the duplexer according to the standing wave threshold value, and the standing wave value of the duplexer transmitting channel corresponds to the standing wave value of the duplexer receiving channel.

The duplexer debugging system based on manipulator that this application embodiment provided, the screw on the automatic positioning duplexer to accomplish the debugging of duplexer, degree of automation is high, the precision is high, efficient.

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 system diagram of a manipulator-based duplexer debugging system according to an embodiment of the present disclosure.

Fig. 2 is a system diagram of a machine vision system in a manipulator-based duplexer commissioning system according to an embodiment of the present application.

Fig. 3 is a system diagram of an image preprocessing unit in a manipulator-based duplexer debugging system according to an embodiment of the present disclosure.

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 system based on manipulator to solve the problem that the debugging precision is low that wastes time and energy that current manual debugging duplexer caused.

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, the manipulator-based duplexer commissioning system provided by the present application will be described.

Referring to fig. 1, an embodiment of the present application provides a duplexer debugging system based on a manipulator 2, which is applied to duplexer debugging, and the system includes:

the machine vision system 1 is used for photographing the duplexer and acquiring the screw information of a screw to be debugged on the duplexer, wherein the screw information comprises screw coordinates and screw types;

the manipulator 2 comprises a multi-axis positioning module and a screw twisting module arranged at the working end of the multi-axis positioning module, and the multi-axis positioning module is used for acquiring the coordinate of the manipulator 2;

the machine vision system 1 and the manipulator 2 are respectively connected with the processing unit 3, the processing unit 3 is used for obtaining a moving path of the manipulator 2 according to the coordinates of the screw and the coordinates of the manipulator 2, moving the manipulator 2 to the position of the screw to be debugged according to the moving path, the screw twisting module selects a corresponding screwdriver according to the type of the screw, and the screw twisting module pushes out the screwdriver to screw in the screw to be debugged;

and the output unit 4 is used for controlling the manipulator 2 to sequentially debug all the screws to be debugged on the duplexer until the waveform of the filtering signal of the duplexer is adjusted to a target waveform.

The duplexer debugging system of memory manipulator 2 that this application embodiment provided utilizes machine vision system 1 to shoot and the screw information on the graphics processing acquisition duplexer to the duplexer, processing unit 3 removes the screw on the 2 knob duplexers of manipulator according to the screw information, through 4 control manipulator 2 knob screws in proper order of output unit, accomplish the debugging of duplexer, the debugging process is whole to be accomplished by manipulator 2 is automatic, degree of automation is high, duplexer debugging efficiency and debugging precision improve.

In some embodiments, referring to fig. 2, a machine vision system 1 of an embodiment of the present application includes:

the image acquisition unit 10 is used for shooting the surface of the duplexer to obtain a screw image, and the image acquisition unit 10 in the embodiment of the application is an industrial addition integrated on the manipulator 2;

the image preprocessing unit 11 is used for matching the shape features in the screw image with the shape features of a standard screw, determining the type of the screw and obtaining a screw preprocessing image;

and the image processing unit 12 is used for detecting the coordinates of the circle center of the screw in the screw preprocessing image to obtain the coordinates of the screw.

In some embodiments, referring to fig. 3, an image preprocessing unit in an embodiment of the present application includes:

the feature extraction sub-module 110 is configured to extract edge information of a screw head in the screw image to obtain a head feature;

the characteristic matching submodule 111 is used for matching the head characteristic with the head shape characteristic of a standard screw and determining the type of the screw;

and the preprocessing submodule 112 is used for performing expansion processing and water filling on the edge graph of the head part of the screw to obtain a screw preprocessing image.

The method comprises the steps that after a screw image is shot by an image acquisition unit 10, the screw image is uploaded, an image preprocessing unit receives the screw image, the shape feature of the screw in the screw image is matched with the shape feature of a standard screw, the type of the screw is determined, a screw preprocessing image is obtained, an image processing unit 12 receives the screw preprocessing image and detects the circle center coordinate of the screw in the screw preprocessing image, a processing unit 3 determines the screw feeding direction according to the circle center coordinate of the screw and the type of the screw, the movement action is controlled, the screw is turned, and therefore the identification and debugging of one screw are completed.

The image preprocessing unit is used for researching screw image matching based on Hu invariant moment features according to the shape characteristics of the screw head of the screw image, adopting a screw image matching method based on geometric shape features, and finishing identification and classification of the screw by taking Euclidean distance between features in the image as measurement. In this embodiment, the image preprocessing unit includes a feature extraction sub-module 110, a feature matching sub-module 111, and a preprocessing sub-module 112, where the feature extraction sub-module 110 is configured to extract edge information of a screw head in a screw image to obtain a head feature, the feature matching sub-module 111 is configured to match the head feature with a head shape feature of a standard screw, determine a type of the screw, replace a tool bit matched with the screw according to a screw type screwdriver mechanism, and the preprocessing sub-module 112 is configured to perform expansion processing and flood filling on an edge pattern of the screw head to obtain a screw preprocessed image.

In some embodiments, the screw positioning sub-module calculates the coordinates of the center of a circle of the screw through a circle positioning algorithm, so that the positioning accuracy of the screw is improved, the detection efficiency is improved, and the calculation amount is reduced.

In some embodiments, the circle positioning algorithm obtains the circle center coordinate values of the screw by a least square method and hough transformation respectively, the two circle center coordinate values are added to calculate the average to obtain the circle center coordinate of the screw, the dispersion degree of the offset value of the circle center coordinate of the screw obtained by the algorithm combination mode is low, and the stability of the positioning result can be improved.

In some embodiments, the processing unit 3 of the present application comprises:

the calibration subunit is used for calibrating the position relationship between the image acquisition unit 10 and the manipulator 2;

the coordinate transformation unit is used for controlling the mobile manipulator 2 to enable the image acquisition unit 10 to respectively obtain a reference point on two opposite corners of the duplexer to obtain reference point coordinates, and transforming the circle center coordinate and the manipulator 2 coordinate according to the reference point coordinates to enable the circle center coordinate and the manipulator 2 coordinate to be located in the same coordinate system to obtain a moving path of the manipulator 2;

and the manipulator 2 control unit is used for moving the screw twisting module to the position of the screw to be debugged according to the moving path, selecting a corresponding screwdriver according to the type of the screw by the screw twisting module, and pushing out the screwdriver by the screw twisting module to screw in the screw to be debugged.

In some embodiments, the two reference points of the present application are the upper left corner of the duplexer and the upper right corner of the duplexer, respectively.

In some embodiments, the screw twisting module of the present application includes a push-out component and an electric screwdriver component, wherein the push-out component is used for controlling the electric screwdriver component to act, and the electric screwdriver component is used for realizing the knob function of the screw to be debugged.

In some embodiments, the output unit 4 of the present application includes:

the standing wave instrument is connected to the duplexer through the transmitter and is used for constantly detecting the standing wave value of the duplexer;

and the debugging subunit is internally provided with a standing wave threshold and is used for controlling the manipulator 2 to debug the to-be-debugged screw on the duplexer according to the standing wave threshold, and the standing wave value of the duplexer transmitting channel corresponds to the standing wave value of the duplexer receiving channel.

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 manipulator 2 to adjust the duplexer, degree of automation is high, and is efficient, and control accuracy is high.

The above detailed description is made on a manipulator-based duplexer debugging system provided in the embodiments of the present application, and specific examples are applied in the present application to explain the principles and embodiments of the present application, and the description of the above embodiments 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.