CN114037851B - A method for locating the wire hole of aviation electrical connector based on template matching - Google Patents
A method for locating the wire hole of aviation electrical connector based on template matching Download PDFInfo
- Publication number
- CN114037851B CN114037851B CN202111114368.7A CN202111114368A CN114037851B CN 114037851 B CN114037851 B CN 114037851B CN 202111114368 A CN202111114368 A CN 202111114368A CN 114037851 B CN114037851 B CN 114037851B
- Authority
- CN
- China
- Prior art keywords
- electrical connector
- information
- aviation electrical
- aviation
- inspected
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000011159 matrix material Substances 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Landscapes
- Image Analysis (AREA)
Abstract
本发明涉及自动化控制的技术领域，公开了一种基于模板匹配的航空电连接器线位孔的定位方法，建立包含各种型号的航空电连接器的模板图像、与所述模板图像一一对应的线位孔位置信息P、特征标识信息T的数据库；利用特征匹配方法，从所述数据库中找出与待检航空电连接器匹配的模板图像以及与其对应的线位孔位置信息P、特征标识信息T，并计算所述待检航空电连接器中当前状态下的特征标识信息T'；根据特征标识信息T和T'之间的对应关系，以及与待检航空电连接器匹配的模板图像对应的线位孔位置信息P，计算待检航空电连接器当前状态下的线位孔的位置坐标信息P'。本发明的方法简单可靠，操作方便，易于实现，便于推广应用。
The present invention relates to the technical field of automatic control, and discloses a method for locating the line position hole of an aviation electrical connector based on template matching, wherein a database containing template images of various types of aviation electrical connectors, line position hole position information P corresponding to the template images, and feature identification information T is established; a template image matching the aviation electrical connector to be inspected and the line position hole position information P and feature identification information T corresponding thereto are found from the database by a feature matching method, and the feature identification information T' in the current state of the aviation electrical connector to be inspected is calculated; based on the corresponding relationship between the feature identification information T and T', and the line position hole position information P corresponding to the template image matching the aviation electrical connector to be inspected, the position coordinate information P' of the line position hole in the current state of the aviation electrical connector to be inspected is calculated. The method of the present invention is simple and reliable, easy to operate, easy to implement, and convenient for popularization and application.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a positioning method of an aviation electric connector line position hole based on template matching.
Background
The electric connector is an electromechanical element for connecting electric appliance circuits, and in various military machines and weaponry, the electric connector has a large demand, and particularly, the electric connector is used in an aviation aircraft in a huge amount. Because of the special use of the electrical connector, the stability of the performance of the electrical connector is very high, and thus the assembly of the electrical connector must be sufficiently accurate.
The electric connector needs to be assembled with the electric wires in the production process, and the electric wires of different types need to be inserted into the wire position holes of corresponding types. At present, most of the assembly work of the electric connector in China is completed manually by manpower, the working efficiency is low, and the electric connector is easily affected by various accidental factors in the manual operation process, so that the assembly quality of the electric connector is reduced.
Disclosure of Invention
Aiming at the current situations that the assembly of the electric connector is still in manual operation at a lower level, the efficiency is lower and the resource waste is more, the invention provides the positioning method of the wire position hole of the aviation electric connector based on template matching, and the positioning method can provide accurate wire position hole coordinates for intelligent electric connection assembly, so that a mechanical arm can accurately insert wires into corresponding wire position holes, and the automatic assembly realization of the whole product is promoted.
The invention can be realized by the following technical scheme:
A positioning method of an aviation electric connector line position hole based on template matching comprises the following steps:
step one, establishing a database containing template images of various types of aviation electric connectors, line position location information P corresponding to the template images one by one and characteristic identification information T;
Step two, a feature matching method is utilized to find out a template image matched with the aviation electric connector to be detected, line position location information P and feature identification information T corresponding to the template image and the line position location information P and the feature identification information T from the database, and feature identification information T' in the current state of the aviation electric connector to be detected is calculated;
And thirdly, calculating position coordinate information P 'of the line position hole of the aviation electric connector to be detected in the current state according to the corresponding relation between the characteristic identification information T and T' and the line position information P corresponding to the template image matched with the aviation electric connector to be detected.
Through the database established in advance, the template image, the line position hole information and the characteristic identification information of each model of the aviation electric connector are stored in advance, so that when the line position hole of the aviation electric connector to be detected is identified, the model identification and the characteristic identification information identification of the aviation electric connector to be detected are only needed, then the line position hole identification of the aviation electric connector to be detected can be completed by utilizing the information matched with the model identification and the characteristic identification information in the database, the positions of the line position holes are not needed to be identified one by one in the detection process, the calculation speed is saved, the detection effect is improved, and the requirement of automatic production is met.
Further, the center of the aviation electric connector in the template image is taken as an origin, a rectangular coordinate system is established, the line position information P is set to be a matrix formed by position coordinates of all line position holes contained in the template image according to the corresponding label sequence, and the characteristic identification information T is set to be angle information of the common identification of the aviation electric connectors of various types relative to the origin.
Further, the common identifier is set as a data identifier "1" or a letter identifier "a" of the line bit hole.
The common identification is used as the characteristic identification to adapt to the positioning detection of more types of aviation electric connectors, the application range is enlarged, when a new type of aviation electric connector appears, only the template image, the line position location P and the characteristic identification information T of the aviation electric connector are required to be saved in a database, the compatibility of the identification program is stronger, and the expansion is more convenient.
Further, collecting sample images of all types of aviation electric connectors with the common marks arranged at the unified positions, intercepting the aviation electric connectors in the sample images, processing the sample images into template images with the same size requirement, identifying marks and outlines corresponding to all line holes in the template images, further obtaining circle center coordinates of all line holes, storing the circle center coordinates and the corresponding marks as a whole to form position information P, and finally calculating angle information between the common marks and the original centers as characteristic mark information T to complete database establishment.
The template images with the same size requirement, the unified position setting of the common identifier and the like can reduce the difficulty of data acquisition and subsequent detection and identification to the greatest extent, and reduce the complexity of the whole calculation.
Further, a SIFT feature matching method is adopted, a template image matched with the aviation electric connector to be detected is found out from the database, the center of the aviation electric connector in the corresponding image of the aviation electric connector to be detected is taken as an origin, a rectangular coordinate system is established, angle information of common features in the current state relative to the original center in calculation is used as feature identification T ' in the current state, and line position information P ' of the aviation electric connector to be detected in the current state is calculated according to the corresponding relation between the feature identification information T and T ' and line position information P corresponding to the template image matched with the aviation electric connector to be detected.
Further, according to the angle difference between the angle information T and T ', the rotation angle between the line position information P ' of the current state of the aviation electric connector to be detected relative to the line position information P in the corresponding template image is calculated, so that the line position information P ' of the current state of the aviation electric connector to be detected is obtained.
The beneficial technical effects of the invention are as follows:
through establishing a database, the template images, the line position information and the characteristic identification information are in one-to-one correspondence, then the template images corresponding to the aviation electric connector to be detected are identified by utilizing a matching method, the corresponding line position information and the characteristic identification information are found, and finally, the position information of each line position hole in the aviation electric connector image to be detected can be obtained only by calculating the characteristic identification information in the aviation electric connector image to be detected, so that the calculation time is saved, the identification efficiency is improved, the station is prevented from becoming the bottleneck of the whole production line, and the realization of production automation is facilitated. In addition, the method of the invention is simple and reliable, convenient to operate, easy to realize and convenient to popularize and apply.
Drawings
FIG. 1 is a general flow chart of the present invention;
FIG. 2 is a schematic diagram of a template image acquisition process of the present invention;
FIG. 3 is a schematic illustration of a common identifier of the present invention;
FIG. 4 is a schematic diagram of the common identity of the present invention at different locations in a rectangular coordinate system where the template image is located;
Fig. 5 is a schematic diagram of the line position information P of the present invention.
Detailed Description
The following detailed description of the invention refers to the accompanying drawings and preferred embodiments.
Aiming at solving the problem of assembling an electric connector which is still under manual operation at present, the invention provides a positioning method of a line position hole of an aviation electric connector based on template matching, and the electric connector is assembled by an intelligent automatic method, as shown in fig. 1, the implementation details of the scheme are described in detail below, and the steps are as follows:
Step 1, establishing a database
Firstly, various types of aviation electric connector samples are required to be collected, main image information containing the aviation electric connector is intercepted according to the collected corresponding image information, and the main image information is modified into a uniform image size, so that the main image information is used as a template image. As shown in fig. 2, the left image is an acquired image data image of the electric connector, and the right image is a captured image of the region of interest as a template image of the aviation point connector;
secondly, through researching the structure of various types of aviation electric connectors, we find that the line positions Kong Biaohao of the aviation electric connectors are mostly numbers or letters, although the numbers are different, the numbers are always marked from the numbers of 1 or letters of a, as shown in figure 3, so that the numbers of 1 or letters of a are selected as common marks, so that the line position holes of the aviation electric connectors of various types are subsequently identified, in order to calculate the position coordinates of the line position holes, the center of a base where the line position holes are positioned is selected as a primary center, a rectangular coordinate system is established, and when template image acquisition is carried out, as shown in figure 4, the numbers of 1 or letters of a are positioned at the positions of coordinate axes, such as the positive direction of an X axis, then, the marks corresponding to the line position holes on the aviation electric connectors are identified by a character identification method, the edges of the corresponding line position holes are calculated by a feature extraction method of RANSAC cluster segmentation, the circle center coordinate information of the corresponding line position holes is obtained, the circle center coordinate information of the corresponding line position holes is stored together with the marks as integral position information, as shown in figure 1, the positive direction of the X axis is calculated, and the common angle information is calculated as shown in figure 1, and the positive direction of the coordinate is shown in figure 5, and the positive direction of the primary mark is calculated, and the primary direction is calculated;
and thirdly, storing the template images, the line position information P and the characteristic identification information T in one-to-one correspondence to finish database establishment. Therefore, when the aviation electric connector with a new model appears, the template image, the line position information P and the characteristic identification information T corresponding to the aviation electric connector are saved to the database only by repeating the process, so that the software has stronger expansibility and is more convenient to use.
Step 2, matching the image of the aviation electric connector to be detected with a database
Firstly, processing an aerial electric connector image to be detected according to the method, enabling the aerial electric connector image to have the same size and the like as a template image in a database, then adopting methods such as SIFT feature matching and the like to find the template image matched with the aerial electric connector to be detected from the database, corresponding line position information P and feature identification information T, then taking the center of a line position hole base in the processed aerial electric connector image to be detected as a primary center to establish a rectangular coordinate system, identifying a common identifier, and calculating angle information formed by the common identifier and the primary center connecting line to serve as feature identification information T' in the current state.
Step 3, calculating the line position location P 'of the aviation electric connector image to be detected in the current state'
Calculating the deviation angle of the feature identification information T 'in the current state obtained in the step 2 and the feature identification information T corresponding to the template image, so as to obtain the rotation angle of the aviation electric connector to be detected relative to the template image, further obtain the rotation condition of each line position coordinate of the aviation electric connector to be detected relative to the line position of the template image, further obtain line position information P' of the aviation electric connector to be detected in the current state of the image, then send the obtained line position information to the mechanical arm, and the system controls the mechanical arm to accurately insert the electric wire into the corresponding line position hole of the electric connector, thereby providing a basis for completing automatic wire plugging operation.
While particular embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these are merely illustrative, and that many changes and modifications may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111114368.7A CN114037851B (en) | 2021-09-23 | 2021-09-23 | A method for locating the wire hole of aviation electrical connector based on template matching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111114368.7A CN114037851B (en) | 2021-09-23 | 2021-09-23 | A method for locating the wire hole of aviation electrical connector based on template matching |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114037851A CN114037851A (en) | 2022-02-11 |
| CN114037851B true CN114037851B (en) | 2025-01-28 |
Family
ID=80134513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111114368.7A Active CN114037851B (en) | 2021-09-23 | 2021-09-23 | A method for locating the wire hole of aviation electrical connector based on template matching |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114037851B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116543040B (en) * | 2023-04-21 | 2024-09-10 | 成都飞机工业（集团）有限责任公司 | Aviation electric connector hole number identification method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111242130A (en) * | 2020-01-06 | 2020-06-05 | 北京航空航天大学 | A kind of automatic generation method of aviation plug type spectrum |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107844722B (en) * | 2016-09-19 | 2022-09-02 | 中兴通讯股份有限公司 | Cabinet jack positioning method based on fingerprint feature matching and device and system thereof |
| CN106500593A (en) * | 2016-10-31 | 2017-03-15 | 哈尔滨工业大学 | Aviation electric connector contact pin position deviation detection method |
| EP3710860A1 (en) * | 2017-11-17 | 2020-09-23 | trinamiX GmbH | Detector for determining a position of at least one object |
| CN108269255B (en) * | 2018-01-26 | 2020-06-02 | 上海赛摩电气有限公司 | Electric connector detection method based on machine vision |
-
2021
- 2021-09-23 CN CN202111114368.7A patent/CN114037851B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111242130A (en) * | 2020-01-06 | 2020-06-05 | 北京航空航天大学 | A kind of automatic generation method of aviation plug type spectrum |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114037851A (en) | 2022-02-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111639647B (en) | Indicator light state identification method and device, computer equipment and storage medium | |
| CN109760045B (en) | Offline programming track generation method and double-robot cooperative assembly system based on same | |
| CN114037851B (en) | A method for locating the wire hole of aviation electrical connector based on template matching | |
| CN115294294A (en) | Pipeline BIM (building information modeling) model reconstruction method and system based on depth image and point cloud | |
| CN109344820A (en) | A digital meter reading recognition method based on computer vision and deep learning | |
| CN114283193B (en) | A pallet three-dimensional visual positioning method and system | |
| CN110969111A (en) | Automatic identification and classification method for mechanical part digital drawing | |
| CN113688831A (en) | Fault identification method and system of power meter based on YOLOV4 | |
| CN117870570A (en) | Automatic marking method, system, equipment and medium for three-dimensional measurement out-of-tolerance range | |
| CN112115885A (en) | Fruit tree bearing branch shearing point positioning method for picking based on deep convolutional neural network | |
| CN118115851B (en) | A method for building a smart geographic data factory based on artificial intelligence | |
| CN111339659B (en) | Rapid labeling method and device for stepped holes in three-dimensional model | |
| CN119048443A (en) | A visual positioning method for component processing area considering dimensional deformation | |
| CN108665439A (en) | Method of testing substrate and terminal device | |
| CN106127851A (en) | A kind of method of three-dimensional point cloud object detection based on curved surface segmentation | |
| CN112750172B (en) | An improved method of point coding marks in photogrammetry | |
| CN112634357B (en) | Communication data processing method and system for robot two-dimensional vision system | |
| CN114020857A (en) | Rapid database building method and system for land survey | |
| CN104376169A (en) | Automatic recognition method and system for electric secondary design cubicle and mechanism case terminal blocks | |
| CN119228643B (en) | Automatic mosaic method and device for unmanned aerial vehicle remote sensing images | |
| CN110298822A (en) | A kind of rotor winding detection method based on image segmentation registration and residual error network | |
| CN115781691B (en) | Robot axis data acquisition system based on servo drive and host computer | |
| CN111047623A (en) | Efficient template positioning algorithm system for vision-aided positioning | |
| CN109082365A (en) | A kind of correction system for unicellular sorting | |
| CN114239678A (en) | Pathological section image labeling method and system and readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |