Butt joint control method and system for connector

Abstract

The invention relates to the technical field of control, and discloses a butt joint control method and system for a connector, and the method comprises the steps: extracting feature points of butt joint point cloud data, constructing a three-dimensional butt joint model, collecting the jitter data of a to-be-butt-jointed connector, judging whether to correct a position coordinate or not according to the jitter data, and determining a target position coordinate, the butt joint pressure of the paired connector is determined based on the butt joint data, the friction coefficient between the paired connector and the to-be-butt-jointed connector is obtained, a butt joint adjustment coefficient is determined based on the friction coefficient and a butt joint friction model, an adjustment curve graph is constructed according to all butt joint behaviors and the butt joint adjustment coefficient, and a butt joint adjustment factor is determined according to the adjustment curve graph; according to the method and the device, the target position coordinate is determined and the butt joint pressure is adjusted, so that the butt joint reliability and stability of the connector are ensured.

Description

Technical Field

[0001] The present invention relates to the field of control technologies, and in particular, to a docking control method and system for connectors. Background Art

[0002] In the modern industrial field, with the continuous deepening of the intelligence and integration levels of devices, higher requirements are put forward for the performance and reliability of electrical connectors. As a component for realizing power, signal, and data transmission, the stability and reliability of connectors are directly related to the operation quality of devices.

[0003] Chinese Patent Publication No. CN107251338B discloses a plug connector for connecting, in particular, electric wires. The plug connector includes at least one concave connecting component and one convex connecting component, wherein the concave connecting component receives the convex connecting component in an interlocking manner, and wherein the two connecting components can be detachably frictionally connected when in interlocking contact. The area of the convex connecting component entering the connection is coaxially gradually decreasing and includes at least one slidable contact body. The slidable contact body is arranged inside the convex connecting component in a first position and protrudes from the convex connecting component in a second position. Thus, it can be seen that during the docking process, the high-speed operation of the device will cause mechanical oscillations of different degrees, making it difficult for the connectors to be accurately docked. This not only reduces the operation efficiency of the device but also may cause faults such as connection looseness and poor contact, thereby resulting in consequences such as power interruption and signal loss. Moreover, the friction force between the connectors will cause the instability of the docking pressure, thus damaging the connectors and unable to ensure reliable electrical connection, affecting the stability and safety of power, signal, and data transmission.

[0004] Therefore, it is necessary to design a docking control method and system for connectors to solve the problems existing in the current technology. Summary of the Invention

[0005] In view of this, the present invention proposes a docking control method and system for connectors, aiming to solve the above problems.

[0006] On the one hand, a docking control method for connectors includes: Obtaining the docking data of the connectors to be docked and generating docking point cloud data from the docking data, extracting the feature points of the docking point cloud data and constructing a three-dimensional docking model; Obtaining the position coordinates of the connectors to be docked in the three-dimensional docking model, collecting the jitter data of the connectors to be docked, judging whether to correct the position coordinates according to the jitter data and determining the target position coordinates, and determining the docking pressure of the paired connectors based on the docking data; Obtain the friction coefficient between the mating connector and the connector to be docked, determine the docking adjustment coefficient based on the friction coefficient and the docking friction model, and count all the docking behaviors of the mating connector. Then, construct an adjustment curve graph according to all the docking behaviors and the docking adjustment coefficient, and determine the docking adjustment factor according to the adjustment curve graph; Adjust the docking pressure according to the docking adjustment factor, and dock the mating connector and the connector to be docked with the adjusted docking pressure and the target position coordinates.

[0007] Further, when obtaining the docking data of the connector to be docked and generating the docking point cloud data from the docking data, and extracting the feature points of the docking point cloud data, it includes: The docking data includes object data and attitude data; Obtain several initial object data of the connector to be docked, and use the average value of the several initial object data as the object data; The object data is the object height, object length and object width of the connector to be docked, and the attitude data is the motion attitude of the connector to be docked; The docking point cloud data is the set data of all points on the object height, object length and object width. Extracting the feature points of the docking point cloud data is to calculate the normal vector of each point in the docking point cloud data.

[0008] Further, when judging whether to correct the position coordinates according to the jitter data and determining the target position coordinates, it includes: When the jitter data is greater than or equal to the jitter data threshold, it is determined that the position coordinates are corrected, and the correction result is determined as the target position coordinates; When the jitter data is less than the jitter data threshold, it is determined that the position coordinates are not corrected, and the position coordinates are determined as the target position coordinates.

[0009] Further, when it is determined that the position coordinates are corrected, it includes: Obtain a historical jitter data set, which includes several historical position coordinates and several historical jitter data sets. Each historical position coordinate corresponds to a historical jitter data set, and the historical jitter data set includes historical jitter data and historical jitter factors; When there is a historical position coordinate in the historical jitter data set that is the same as the position coordinates, correct the position coordinates with the historical jitter factor corresponding to the historical position coordinate; When there is no historical position coordinate in the historical jitter data set that is the same as the position coordinates, correct the position coordinates according to the historical jitter data set.

[0010] Further, when correcting the position coordinates according to the historical jitter dataset, it includes: Set the number of cluster clusters k = 2, randomly select two historical position coordinates in the historical jitter dataset as the first cluster center and the second cluster center, calculate the distances from each historical position coordinate in the historical jitter dataset to the first cluster center and the second cluster center respectively, and assign it to the cluster with the nearest distance. When the distances are the same, it is assigned to the cluster where the first cluster center is located; According to the assignment result, determine the cluster where the first cluster center is located as the first position coordinate cluster, and determine the cluster where the second cluster center is located as the second position coordinate cluster; Extract the historical jitter factor corresponding to the historical position coordinate of the first median in the first position coordinate cluster and record it as the first jitter factor, and extract the historical jitter factor corresponding to the historical position coordinate of the second median in the second position coordinate cluster and record it as the second jitter factor; Use the average value of the first jitter factor and the second jitter factor to correct the position coordinates.

[0011] Further, when determining the docking pressure of the paired connector based on the docking data, it includes: Preset a first preset object height and a second preset object height, and the first preset object height is greater than the second preset object height; Preset a first preset docking pressure, a second preset docking pressure, and a third preset docking pressure, and the first preset docking pressure is greater than the second preset docking pressure, and the second preset docking pressure is greater than the third preset docking pressure; When the object height is greater than or equal to the first preset object height, determine the first preset docking pressure as the docking pressure; When the object height is less than the first preset object height and greater than the second preset object height, determine the second preset docking pressure as the docking pressure; When the object height is less than or equal to the second preset object height, determine the third preset docking pressure as the docking pressure.

[0012] Further, when determining the docking adjustment coefficient based on the friction coefficient and the docking friction model, it includes: Obtain a friction dataset, and sample it according to the sampling ratio to obtain a training set and a test set; Obtain a data model, train the data model according to the training set, and test the trained data model according to the test set; If the test value of the data model after the current training is greater than or equal to the test value of the data model after the previous training, stop the training and determine the data model after the current training as the docking friction model; otherwise, adjust the hyperparameters and continue the training until it is greater than or equal to the test value of the data model after the previous training; Substitute the friction coefficient into the docking friction model to determine the docking adjustment coefficient; The data model includes an RBF neural network model or a PB neural network model.

[0013] Further, when constructing an adjustment curve graph based on all docking behaviors and the docking adjustment coefficient and determining the docking adjustment factor according to the adjustment curve graph, it includes: Construct the docking adjustment coefficient corresponding to the docking adjustment coefficient and all docking behaviors into a docking adjustment set; Convert all the docking adjustment coefficients in the docking adjustment set into coordinate points; Arrange each docking behavior in chronological order to construct the X-axis, construct the Y-axis according to the docking adjustment set, the X-axis coordinate value of the coordinate point represents a docking behavior, and the Y-axis coordinate value of the coordinate point represents the value of a docking adjustment coefficient; Determine the adjustment curve graph according to the X-axis, Y-axis, and all the coordinate points; When there is no slope greater than or less than zero in the adjustment curve graph, determine any docking adjustment coefficient as the docking adjustment factor; otherwise, determine the average value of the docking adjustment set as the docking adjustment factor.

[0014] Further, when adjusting the docking pressure according to the docking adjustment factor, it includes: The docking pressure is positively correlated with the docking adjustment factor.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: When dealing with the mechanical oscillation of the device, by obtaining the docking data of the connector to be docked to generate docking point cloud data and constructing a three-dimensional docking model, combining the collected jitter data for judgment, and making corresponding corrections to the position coordinates, it is possible to determine the target position coordinates according to the vibration state, effectively offsetting the influence of the mechanical oscillation caused by the high-speed operation of the device, enabling the mating connector to dock with the connector to be docked, avoiding the docking deviation caused by the oscillation, thereby ensuring the operation efficiency of the device, obtaining the friction coefficient and determining the docking adjustment coefficient based on the docking friction model, constructing an adjustment curve graph in combination with all the docking behaviors counted to determine the docking adjustment factor, and adjusting the docking pressure accordingly, achieving precise control of the docking pressure, ensuring the electrical connection between the mating connector and the connector to be docked, and guaranteeing the stability and safety of power, signal, and data transmission.

[0016] On the other hand, the present application also provides a docking control system for a connector, which is used to apply the above-mentioned docking control method for a connector, and includes: A data acquisition module, configured to obtain the docking data of the connector to be docked, generate docking point cloud data from the docking data, extract the feature points of the docking point cloud data, and construct a three-dimensional docking model; A jitter analysis module, configured to obtain the position coordinates of the connector to be docked in the three-dimensional docking model, collect the jitter data of the connector to be docked, determine whether to correct the position coordinates based on the jitter data, and determine the target position coordinates, and determine the docking pressure of the mating connector based on the docking data; A docking processing module, configured to obtain the friction coefficient between the mating connector and the connector to be docked, determine a docking adjustment coefficient based on the friction coefficient and the docking friction model, and count all the docking behaviors of the mating connector, and construct an adjustment curve graph based on all the docking behaviors and the docking adjustment coefficient, and determine a docking adjustment factor according to the adjustment curve graph; A docking adjustment module, configured to adjust the docking pressure according to the docking adjustment factor, and dock the mating connector and the connector to be docked with the adjusted docking pressure and the target position coordinates.

[0017] It can be understood that the above-mentioned docking control method and system for a connector have the same beneficial effects, which will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings: Figure 1 is a flowchart of a docking control method for a connector provided by an embodiment of the present invention; Figure 2 is a functional block diagram of a docking control system for a connector provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0020] In some embodiments of the present application, referring to Figure 1 as shown, a docking control method for a connector includes: S100: Obtain the docking data of the connector to be docked, generate docking point cloud data from the docking data, extract the feature points of the docking point cloud data, and construct a three-dimensional docking model.

[0021] S200: Obtain the position coordinates of the connector to be docked in the three-dimensional docking model, collect the jitter data of the connector to be docked, determine whether to correct the position coordinates according to the jitter data and determine the target position coordinates, and determine the docking pressure of the paired connector based on the docking data.

[0022] S300: Obtain the friction coefficient between the paired connector and the connector to be docked, determine the docking adjustment coefficient based on the friction coefficient and the docking friction model, and count all the docking behaviors of the paired connector, and construct an adjustment curve graph according to all the docking behaviors and the docking adjustment coefficient, and determine the docking adjustment factor according to the adjustment curve graph.

[0023] S400: Adjust the docking pressure according to the docking adjustment factor, and dock the paired connector and the connector to be docked with the adjusted docking pressure and the target position coordinates.

[0024] Specifically, the connector to be docked and the mating connector form a complete electrical connection system. The connector to be docked is set on the device, and the connector to be docked is docked through the mating connector to achieve power, signal, and data transmission. Obtain the docking data of the connector to be docked and generate docking point cloud data. The docking point cloud data is a data form that describes the surface shape of an object with a large number of discrete points. It can accurately record the geometric feature information of the connector to be docked, extract the feature points of the docking point cloud data. These feature points are the representative data of the shape and structure of the connector to be docked. By extracting these feature points, the specific docking point cloud data is transformed into an intuitive and operable three-dimensional docking model, providing a reliable basis for subsequent docking operations. Obtain the position coordinates of the connector to be docked in the three-dimensional docking model, and at the same time collect its jitter data. When the device is running, mechanical vibration will cause a certain jitter of the connector to be docked. Use vibration measuring instruments, gyro sensors and other acquisition devices to obtain the jitter data of the connector to be docked caused by mechanical vibration, and analyze the jitter data to determine whether the position coordinates need to be corrected. If the amplitude of the jitter is large, the position coordinates need to be adjusted accordingly to determine the target position coordinates, so as to ensure that the mating connector can be in an accurate position during docking and avoid docking deviation caused by oscillation. If the amplitude of the jitter is small, it may only be millimeter-level or micron-level vibration, which is of a smaller magnitude compared to the mating connector and is within the error range allowed by the mating connector, then no adjustment is required. The error range allowed by the mating connector is determined according to the usage instructions of the mating connector and the connector to be docked.

[0025] It can be understood that the docking pressure of the mating connector is determined based on the docking data. The docking pressure needs to meet the basic requirements of electrical connection. And, the friction coefficient between the mating connector and the connector to be docked is considered during docking. The friction coefficient reflects the friction characteristics between the mating connector and the connector to be docked. Different materials and surface treatments have different friction coefficients. For example: when there is a small friction coefficient, when docking according to the docking pressure, there may be a situation of pressure overflow, resulting in damage to the mating connector and the connector to be docked. When there is a large friction coefficient, when docking according to the same docking pressure, there may be a situation of insufficient pressure, resulting in unstable docking and even the risk of the mating connector falling off. Combine the docking friction model to determine the docking adjustment coefficient, and count all the docking behaviors of the mating connector. Based on these docking behaviors and the docking adjustment coefficient, construct an adjustment curve graph. The adjustment curve graph reflects all possible situations during docking, so as to determine the docking adjustment factor to adjust the docking pressure accordingly, ensuring the stability and reliability of the docking process, avoiding the risk of poor connection caused by docking deviation and unstable docking caused by the vibration of the device, and improving the reliability and stability of docking.

[0026] In some embodiments of the present application, when obtaining the docking data of the connector to be docked, generating the docking point cloud data from the docking data, and extracting the feature points of the docking point cloud data, the following steps are included: The docking data includes object data and attitude data. A number of initial object data of the connector to be docked are obtained, and the mean value of the number of initial object data is used as the object data. The object data is the object height, object length, and object width of the connector to be docked, and the attitude data is the motion attitude of the connector to be docked. The docking point cloud data is the set data of all points on the object height, object length, and object width. Extracting the feature points of the docking point cloud data is to calculate the normal vector of each point in the docking point cloud data.

[0027] Specifically, obtaining a number of initial object data of the connector to be docked and taking the mean value as the object data avoids the interference caused by accidental data, effectively reduces the measurement error, improves the accuracy of the object data, and enables the determined object height, object length, and object width to accurately reflect the actual size of the connector to be docked. The attitude data reflects the motion attitude of the connector to be docked, which is crucial for accurately grasping its spatial position. The docking point cloud data is the set data of all points on the object height, object length, and object width, which can comprehensively describe the surface shape of the connector to be docked. Calculating the normal vector of each point in the docking point cloud data, the normal vector is a vector perpendicular to the plane where the point is located, and the normal vector can be determined by the principal component analysis (PCA) algorithm. The normal vector reflects the surface orientation and curvature information of each point in the docking point cloud data. For example: for a curved surface structure, the normal vector will change with the position of the point, thereby describing the geometric characteristics of the surface of the connector to be docked, and improving the reliability and stability of the docking control.

[0028] In some embodiments of the present application, when determining whether to correct the position coordinates and determining the target position coordinates according to the jitter data, the following steps are included: When the jitter data is greater than or equal to the jitter data threshold, it is determined that the position coordinates are corrected, and the correction result is determined as the target position coordinates. When the jitter data is less than the jitter data threshold, it is determined that the position coordinates are not corrected, and the position coordinates are determined as the target position coordinates.

[0029] Specifically, the jitter data threshold is a preset reference value used to measure whether the mechanical jitter of the device will affect the docking of the mating connectors. The jitter data threshold can be set through the instructions of the mating connectors and the connectors to be docked. When the jitter data is greater than or equal to the jitter data threshold, it indicates that the jitter amplitude is relatively large, which may cause a certain position deviation in the originally obtained position coordinates. In this case, the position coordinates need to be corrected to offset the deviation caused by the jitter. When the jitter data is less than the jitter data threshold, it indicates that the impact of the jitter on the position coordinates is within an acceptable range and will not interfere with the docking of the mating connectors. Therefore, the position coordinates can be directly determined as the target position coordinates without correcting the position coordinates. On the one hand, unnecessary correction operations are avoided, improving the docking efficiency. On the other hand, the failures caused by inaccurate docking are reduced, thus ensuring the stability and security of power, signal, and data transmission.

[0030] In some embodiments of the present application, when determining to correct the position coordinates, it includes: obtaining a historical jitter data set. The historical jitter data set includes a number of historical position coordinates and a number of historical jitter data sets. Each historical position coordinate corresponds to a historical jitter data set. The historical jitter data set includes historical jitter data and a historical jitter factor. When there is a historical position coordinate in the historical jitter data set that is the same as the position coordinate, the historical jitter factor corresponding to the historical position coordinate is used to correct the position coordinates. When there is no historical position coordinate in the historical jitter data set that is the same as the position coordinate, the position coordinates are corrected according to the historical jitter data set.

[0031] Specifically, the historical jitter data set contains a number of historical position coordinates and the corresponding historical jitter data sets. Each historical jitter data set contains historical jitter data and a historical jitter factor. By determining the matching degree with the historical successful adjustment conditions, when there is a historical position coordinate in the historical jitter data set that is the same as the current position coordinate, it means that there is a record of jitter at this position before. The historical jitter factor can be directly used to determine the historical jitter factor, thus ensuring the reliability and consistency of the correction process. The historical jitter factor is used to correct the position coordinates. When correcting, the position coordinates and the historical jitter factor are added together. For example: the position coordinates are represented as (1, 2, 6), the historical jitter factor is represented as (0, 0, -2), and the corrected position coordinates are represented as (1, 2, 4). Through data-driven automatic adjustment, learning and optimization can be carried out from historical experience, thus continuously improving the accuracy and efficiency of docking control. For the situation where the current docking conditions do not match the historical jitter data set, it means that the current position coordinates are a new situation and there is no directly available historical experience for reference. Therefore, the historical jitter data set is further analyzed to correct the position coordinates, ensuring the adaptability and flexibility of docking control in different situations, and further guaranteeing the reliability of power, signal, and data transmission.

[0032] In some embodiments of the present application, when correcting the position coordinates according to the historical jitter dataset, it includes: setting the number of cluster clusters k = 2, randomly selecting two historical position coordinates in the historical jitter dataset as the first cluster center and the second cluster center, calculating the distances from each historical position coordinate in the historical jitter dataset to the first cluster center and the second cluster center respectively, and allocating it to the cluster with the closest distance. When the distances are the same, it is allocated to the cluster where the first cluster center is located. According to the allocation result, the cluster where the first cluster center is located is determined as the first position coordinate cluster, and the cluster where the second cluster center is located is determined as the second position coordinate cluster. Extract the historical jitter factor corresponding to the historical position coordinate of the first median in the first position coordinate cluster and record it as the first jitter factor. Extract the historical jitter factor corresponding to the historical position coordinate of the second median in the second position coordinate cluster and record it as the second jitter factor. Use the average value of the first jitter factor and the second jitter factor to correct the position coordinates.

[0033] Specifically, setting the number of cluster clusters k = 2 means dividing the historical position coordinates into two categories. Randomly select two historical position coordinates as the cluster centers. By calculating the distances from each historical position coordinate to these two cluster centers, it is divided into the cluster with the closest distance. If the distances are the same, it is divided into the first position coordinate cluster. In this way, similar historical position coordinates can be aggregated together to form two position coordinate clusters. Find the median in each position coordinate cluster. The median can represent the intermediate level of the cluster. Using the median to determine the corresponding jitter factor can reduce the influence of extreme values in the historical jitter dataset. Calculate the average value of the jitter factors corresponding to the two clusters, and use this average value to correct the position coordinates, reducing the interference of individual historical position coordinates, making full use of the historical jitter dataset and mining data from historical experience, ensuring the stability and reliability of the docking control.

[0034] In some embodiments of the present application, when determining the docking pressure of the paired connector based on the docking data, it includes: presetting a first preset object height and a second preset object height, where the first preset object height is greater than the second preset object height. Preset a first preset docking pressure, a second preset docking pressure, and a third preset docking pressure, where the first preset docking pressure is greater than the second preset docking pressure, and the second preset docking pressure is greater than the third preset docking pressure. When the object height is greater than or equal to the first preset object height, determine the first preset docking pressure as the docking pressure. When the object height is less than the first preset object height and greater than the second preset object height, determine the second preset docking pressure as the docking pressure. When the object height is less than or equal to the second preset object height, determine the third preset docking pressure as the docking pressure.

[0035] Specifically, the object height reflects the actual height of the connector to be docked. For a connector to be docked with a relatively high object height, it means that during docking, the mating connector needs to be inserted to a certain depth to effectively dock with the connector to be docked. Therefore, a relatively large docking pressure is required to ensure the docking between the mating connector and the connector to be docked. While a lower object height means a smaller insertion depth, and a relatively large docking pressure is not required to dock the mating connector and the connector to be docked. By comparing the relationship between the object height of the connector to be docked and the preset object height to dynamically select the docking pressure, the risk of damaging the connector due to excessive docking pressure or loose connection and poor contact caused by too small pressure is avoided, thereby improving the reliability of docking control.

[0036] In some embodiments of the present application, when determining the docking adjustment coefficient based on the friction coefficient and the docking friction model, it includes: obtaining a friction data set, sampling according to the sampling ratio to obtain a training set and a test set, obtaining a data model, training the data model according to the training set, testing the trained data model according to the test set. If the test value of the currently trained data model is greater than or equal to the test value of the data model after the previous training, stop training and determine the currently trained data model as the docking friction model. Otherwise, adjust the hyperparameters and continue training until it is greater than or equal to the test value of the data model after the previous training. Substitute the friction coefficient into the docking friction model to determine the docking adjustment coefficient. The data model includes an RBF neural network model or a PB neural network model.

[0037] Specifically, the friction coefficient can be determined by referring to the material properties of the mating connector and the connector to be docked. The friction dataset includes data such as the material data, surface roughness, and corresponding sample values of the mating connector and the connector to be docked. The friction dataset is divided into a training set and a test set according to the sampling ratio, which is usually 8:2. The training set is used to train the data model, and the test set is used to evaluate the performance of the trained model. A data model is selected as the initial model, which contains neurons and activation functions and aims to capture complex relationships in the data. The data model is trained using the data in the training set. In each training, the model attempts to learn the patterns and relationships in the data to improve its prediction or classification ability. After each iterative training, the model is tested using the data in the test set to determine the test value. The test metrics include accuracy, loss function value, recall rate, etc., which are used to measure the performance of the model. If the test value of the currently trained data model is greater than or equal to the test value of the data model after the previous training, it indicates that the model performance has improved or remained stable. At this time, the training can be stopped, and it is considered that the model has reached a satisfactory performance level. Otherwise, it indicates that the model performance has decreased. At this time, the hyperparameters (learning rate) of the model need to be adjusted, and then the training continues. This helps the model to approach the global optimal solution more stably. By continuously optimizing the parameters of the RBF neural network model or the PB neural network model, it can accurately output the docking adjustment coefficient, ensuring the reliability of the docking control.

[0038] In some embodiments of the present application, when constructing an adjustment curve graph according to all docking behaviors and docking adjustment coefficients and determining the docking adjustment factor according to the adjustment curve graph, it includes: constructing a docking adjustment set with the docking adjustment coefficients and the docking adjustment coefficients corresponding to all docking behaviors, converting all the docking adjustment coefficients in the docking adjustment set into coordinate points, arranging each docking behavior in chronological order to construct the X-axis, constructing the Y-axis according to the docking adjustment set, the X-axis coordinate value of the coordinate point represents a docking behavior, and the Y-axis coordinate value of the coordinate point represents the value of a docking adjustment coefficient. The adjustment curve graph is determined according to the X-axis, Y-axis, and all the coordinate points. When there is no slope greater than or less than zero in the adjustment curve graph, any docking adjustment coefficient is determined as the docking adjustment factor. Otherwise, the average value of the docking adjustment set is determined as the docking adjustment factor.

[0039] Specifically, a visualization adjustment curve graph is used to determine the docking adjustment factor. The docking adjustment coefficient and the adjustment coefficients corresponding to all docking behaviors are integrated into a docking adjustment set, which is then converted into coordinate points. The docking behaviors are arranged in chronological order to construct the X-axis, and the coordinate value of this X-axis represents one docking behavior. Since the docking operation has not been performed when determining the docking adjustment coefficient, the docking behaviors that have not been performed are arranged behind all docking behaviors. The Y-axis is constructed with the docking adjustment coefficient, thereby drawing the adjustment curve graph. The adjustment curve graph reflects the changing trend of the docking adjustment coefficient with the docking behavior. When there is no situation where the slope is greater than or less than zero in the adjustment curve graph, it means that the docking adjustment coefficient does not change with the docking behavior and remains in a constant state. In this case, any docking adjustment coefficient can be selected. If there is a situation where the slope is greater than or less than zero, it indicates that the docking adjustment coefficient has a changing trend. Then, the average value in the docking adjustment set is taken as the docking adjustment factor, which can comprehensively consider all data to reflect the overall level of the docking adjustment coefficient. Taking the average value when there is a changing trend can effectively eliminate the influence of accidental factors, making the docking adjustment factor representative and improving the stability and reliability of the docking control.

[0040] In some embodiments of the present application, when adjusting the docking pressure according to the docking adjustment factor, it includes: the docking pressure is positively correlated with the docking adjustment factor.

[0041] Specifically, the docking pressure is adjusted according to the docking adjustment factor. When a higher or lower docking pressure is required, corresponding adjustments are made through the docking adjustment factor. Whether the relationship between the docking adjustment factor and the docking pressure is linear or non-linear, the docking pressure can be adjusted through the docking adjustment factor, improving the stability and reliability of the docking control.

[0042] In summary, the beneficial effects of the present invention are as follows: When dealing with the mechanical oscillation of the device, the docking point cloud data is generated by obtaining the docking data of the connector to be docked, and a three-dimensional docking model is constructed. The collected jitter data is combined for judgment, and the position coordinates are corrected accordingly. The target position coordinates can be determined according to the vibration state, effectively offsetting the influence of the mechanical oscillation caused by the high-speed operation of the device, enabling the mating connector to dock with the connector to be docked, avoiding the docking deviation caused by the oscillation, and thus ensuring the operation efficiency of the device. The friction coefficient is obtained, and the docking adjustment coefficient is determined based on the docking friction model. The adjustment curve graph is constructed by combining all the statistically collected docking behaviors to determine the docking adjustment factor, and the docking pressure is adjusted accordingly, achieving precise control of the docking pressure and ensuring the electrical connection between the mating connector and the connector to be docked, guaranteeing the stability and security of power, signal, and data transmission.

[0043] In another preferred manner based on the above embodiments, refer to Figure 2As shown in the figure, this embodiment provides a docking control system for a connector, which is used to apply the above-mentioned docking control method for a connector, and includes: A data acquisition module, configured to obtain the docking data of the connector to be docked, generate docking point cloud data from the docking data, extract the feature points of the docking point cloud data, and construct a three-dimensional docking model.

[0044] A jitter analysis module, configured to obtain the position coordinates of the connector to be docked in the three-dimensional docking model, collect the jitter data of the connector to be docked, determine whether to correct the position coordinates according to the jitter data and determine the target position coordinates, and determine the docking pressure of the paired connector based on the docking data.

[0045] A docking processing module, configured to obtain the friction coefficient between the paired connector and the connector to be docked, determine the docking adjustment coefficient based on the friction coefficient and the docking friction model, count all the docking behaviors of the paired connector, construct an adjustment curve graph according to all the docking behaviors and the docking adjustment coefficient, and determine the docking adjustment factor according to the adjustment curve graph.

[0046] A docking adjustment module, configured to adjust the docking pressure according to the docking adjustment factor, and dock the paired connector and the connector to be docked with the adjusted docking pressure and the target position coordinates.

[0047] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0048] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowcharts and / or block diagrams can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowcharts and / or block diagrams can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in one Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0049] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means that implement the functions specified in one or more of the processes and / or blocks Figure 1 in one or more of the processes and / or blocks Figure 1 specified in one or more of the blocks or blocks.

[0050] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more of the processes and / or blocks Figure 1 in one or more of the processes and / or blocks Figure 1 specified in one or more of the blocks or blocks.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent substitutions can still be made to the specific embodiments of the present invention, and any modification or equivalent substitution that does not depart from the spirit and scope of the present invention should be covered by the protection scope of the claims of the present invention.

Claims

1. A docking control method for a connector, characterized in that, Including: Obtain the docking data of the connector to be docked, generate docking point cloud data from the docking data, extract the feature points of the docking point cloud data, and construct a three-dimensional docking model; Obtain the position coordinates of the connector to be docked in the three-dimensional docking model, collect the jitter data of the connector to be docked, determine whether to correct the position coordinates according to the jitter data and determine the target position coordinates, and determine the docking pressure of the paired connector based on the docking data; Obtain the friction coefficient between the paired connector and the connector to be docked, determine the docking adjustment coefficient based on the friction coefficient and the docking friction model, count all the docking behaviors of the paired connector, construct an adjustment curve graph according to all the docking behaviors and the docking adjustment coefficient, and determine the docking adjustment factor according to the adjustment curve graph; Adjust the docking pressure according to the docking adjustment factor, and dock the paired connector and the connector to be docked with the adjusted docking pressure and the target position coordinates.

2. The docking control method for a connector according to claim 1, characterized in that, When obtaining the docking data of the connector to be docked and generating docking point cloud data from the docking data, and extracting the feature points of the docking point cloud data, it includes: The docking data includes object data and attitude data; Obtain several initial object data of the connector to be docked, and use the average value of the several initial object data as the object data; The object data is the object height, object length and object width of the connector to be docked, and the attitude data is the motion attitude of the connector to be docked; The docking point cloud data is the set data of all points on the object height, object length and object width. Extracting the feature points of the docking point cloud data is to calculate the normal vector of each point in the docking point cloud data.

3. The docking control method for a connector according to claim 2, wherein When determining whether to correct the position coordinates according to the jitter data and determining the target position coordinates, it includes: When the jitter data is greater than or equal to the jitter data threshold, it is determined that the position coordinates are corrected, and the correction result is determined as the target position coordinates; When the jitter data is less than the jitter data threshold, it is determined that the position coordinates are not corrected, and the position coordinates are determined as the target position coordinates.

4. The docking control method for a connector according to claim 3, wherein When it is determined to correct the position coordinates, it includes: Obtain a historical jitter data set, which includes several historical position coordinates and several historical jitter data sets. Each historical position coordinate corresponds to a historical jitter data set, and the historical jitter data set includes historical jitter data and historical jitter factors; When there is a historical position coordinate in the historical jitter data set that is the same as the position coordinate, correct the position coordinate with the historical jitter factor corresponding to the historical position coordinate; When there is no historical position coordinate in the historical jitter data set that is the same as the position coordinate, correct the position coordinate according to the historical jitter data set.

5. The docking control method for a connector according to claim 4, characterized in that When correcting the position coordinate according to the historical jitter data set, it includes: Set the number of cluster clusters k = 2, randomly select two historical position coordinates in the historical jitter dataset as the first cluster center and the second cluster center, calculate the distances from each historical position coordinate in the historical jitter dataset to the first cluster center and the second cluster center respectively, and assign it to the cluster with the closest distance. When the distances are the same, assign it to the cluster where the first cluster center is located; According to the assignment result, determine the cluster where the first cluster center is located as the first position coordinate cluster, and determine the cluster where the second cluster center is located as the second position coordinate cluster; Extract the historical jitter factor of the historical position coordinate corresponding to the first median in the first position coordinate cluster and denote it as the first jitter factor, and extract the historical jitter factor of the historical position coordinate corresponding to the second median in the second position coordinate cluster and denote it as the second jitter factor; Use the average value of the first jitter factor and the second jitter factor to correct the position coordinates.

6. The docking control method for a connector according to claim 5, characterized in that, When determining the docking pressure of the paired connector based on the docking data, it includes: Preset a first preset object height and a second preset object height, where the first preset object height is greater than the second preset object height; Preset a first preset docking pressure, a second preset docking pressure, and a third preset docking pressure, where the first preset docking pressure is greater than the second preset docking pressure, and the second preset docking pressure is greater than the third preset docking pressure; When the object height is greater than or equal to the first preset object height, determine the first preset docking pressure as the docking pressure; When the object height is less than the first preset object height and greater than the second preset object height, determine the second preset docking pressure as the docking pressure; When the object height is less than or equal to the second preset object height, determine the third preset docking pressure as the docking pressure.

7. The docking control method for a connector according to claim 6, characterized in that, When determining the docking adjustment coefficient based on the friction coefficient and the docking friction model, it includes: Obtain a friction dataset, and sample it according to the sampling ratio to obtain a training set and a test set; Obtain a data model, train the data model according to the training set, and test the trained data model according to the test set; If the test value of the currently trained data model is greater than or equal to the test value of the previously trained data model, stop training and determine the currently trained data model as the docking friction model. Otherwise, adjust the hyperparameters and continue training until it is greater than or equal to the test value of the previously trained data model; Substitute the friction coefficient into the docking friction model to determine the docking adjustment coefficient; The data model includes an RBF neural network model or a PB neural network model.

8. The docking control method for a connector according to claim 7, wherein, When constructing an adjustment curve graph according to all docking behaviors and the docking adjustment coefficient, and determining the docking adjustment factor according to the adjustment curve graph, it includes: Construct the docking adjustment coefficient corresponding to the docking adjustment coefficient and all docking behaviors into a docking adjustment set; Convert all the docking adjustment coefficients in the docking adjustment set into coordinate points; Arrange each pair of docking behaviors in chronological order to construct the X-axis, and construct the Y-axis according to the set of docking adjustments. The X-axis coordinate value of the coordinate point represents a pair of docking behaviors, and the Y-axis coordinate value of the coordinate point represents the numerical value of a pair of docking adjustment coefficients; Determine the adjustment curve graph according to the X-axis, Y-axis and all coordinate points; When there is no slope greater than or less than zero in the adjustment curve graph, determine any pair of docking adjustment coefficients as the docking adjustment factor. Otherwise, determine the average value of the docking adjustment set as the docking adjustment factor.

9. The docking control method for a connector according to claim 8, characterized in that When adjusting the docking pressure according to the docking adjustment factor, it includes: The docking pressure is positively correlated with the docking adjustment factor.

10. A docking control system for a connector, which is used to apply the docking control method for a connector according to any one of claims 1-9, characterized in that, It includes: A data acquisition module, configured to obtain docking data of the connector to be docked, generate docking point cloud data from the docking data, extract feature points of the docking point cloud data, and construct a three-dimensional docking model; A jitter analysis module, configured to obtain the position coordinates of the connector to be docked in the three-dimensional docking model, collect the jitter data of the connector to be docked, judge whether to correct the position coordinates according to the jitter data and determine the target position coordinates, and determine the docking pressure of the paired connector based on the docking data; A docking processing module, configured to obtain the friction coefficient between the paired connector and the connector to be docked, determine the docking adjustment coefficient based on the friction coefficient and the docking friction model, count all the docking behaviors of the paired connector, and construct an adjustment curve graph according to all the docking behaviors and the docking adjustment coefficient, and determine the docking adjustment factor according to the adjustment curve graph; A docking adjustment module, configured to adjust the docking pressure according to the docking adjustment factor, and dock the paired connector and the connector to be docked with the adjusted docking pressure and the target position coordinates.

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