A docking control method and system for connectors

Abstract

The present invention relates to the field of control technology, and discloses a docking control method and system for connectors, the method comprising: extracting feature points of docking point cloud data and constructing a three-dimensional docking model, collecting jitter data of the connector to be docked, judging whether to correct the position coordinates and determining the target position coordinates based on the jitter data, determining the docking pressure of the mating connector based on the docking data, obtaining the friction coefficient between the mating connector and the connector to be docked, determining the docking adjustment coefficient based on the friction coefficient and the docking friction model, and constructing an adjustment curve diagram based on all docking behaviors and the docking adjustment coefficient, determining the docking adjustment factor based on the adjustment curve diagram, and adjusting the docking pressure based on the docking adjustment factor. The present invention ensures the reliability and stability of connector docking by determining the target position coordinates and adjusting the docking pressure.

Description

Technical Field

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

[0002] In the modern industrial field, as the degree of intelligence and integration of equipment continues to deepen, higher requirements are placed on the performance and reliability of electrical connectors. As components for realizing power, signal and data transmission, the stability and reliability of connectors are directly related to the operating quality of the equipment.

[0003] Chinese Patent Publication No. CN107251338B discloses a plug-in connector for connecting, in particular, electrical wires, the plug-in connector comprising at least one female connection part and a male connection part, wherein the female connection part interlockingly receives the male connection part, and wherein the two connection parts can be removably frictionally connected when in interlocking contact, wherein the male connection part has a region where it enters the connection that tapers coaxially and comprises at least one slidable contact body, wherein the slidable contact body is arranged within the male connection part in a first position and protrudes from the male connection part in a second position. It can be seen that during the docking process, the high-speed operation of the device will cause mechanical oscillations of varying degrees, making it difficult for the connectors to dock accurately, which not only reduces the operating efficiency of the device, but also may cause faults such as loose connections and poor contact, leading to consequences such as power outages and signal loss. In addition, the friction between the connectors can lead to unstable docking pressure, which can damage the connectors and make it impossible to ensure a reliable electrical connection, affecting the stability and security of power, signal, and data transmission.

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

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

[0006] In one aspect, a method for controlling a docking of a connector includes:

[0007] Acquiring docking data of the connector to be docked and generating docking point cloud data from the docking data, extracting feature points from the docking point cloud data and constructing a three-dimensional docking model;

[0008] Acquiring position coordinates of the connector to be docked in the three-dimensional docking model, collecting jitter data of the connector to be docked, determining whether to correct the position coordinates and determining target position coordinates based on the jitter data, and determining a docking pressure of the mating connector based on the docking data;

[0009] Obtaining a friction coefficient between the mating connector and the connector to be mated, determining a docking adjustment coefficient based on the friction coefficient and a docking friction model, collecting statistics on all docking behaviors of the mating connectors, constructing an adjustment curve graph based on all docking behaviors and the docking adjustment coefficient, and determining a docking adjustment factor based on the adjustment curve graph;

[0010] The docking pressure is adjusted according to the docking adjustment factor, and the mating connector and the to-be-docked connector are docked using the adjusted docking pressure and the target position coordinates.

[0011] Furthermore, when obtaining docking data of the connector to be docked and generating docking point cloud data from the docking data, and extracting feature points of the docking point cloud data, the method includes:

[0012] The docking data includes object data and posture data;

[0013] Acquire a plurality of initial object data of the connector to be docked, and use an average of the plurality of initial object data as the object data;

[0014] The object data is the object height, object length and object width of the connector to be docked, and the posture data is the motion posture of the connector to be docked;

[0015] The docking point cloud data is the collection data of all points on the height, length and width of the object, and 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.

[0016] Furthermore, when determining whether to correct the position coordinates and determine the target position coordinates according to the jitter data, the method includes:

[0017] When the jitter data is greater than or equal to a jitter data threshold, determining to correct the position coordinates, and determining the correction result as the target position coordinates;

[0018] When the jitter data is less than a jitter data threshold, it is determined that the position coordinates are not to be corrected, and the position coordinates are determined as the target position coordinates.

[0019] Furthermore, when determining to correct the position coordinates, the method includes:

[0020] Acquire a historical jitter data set, the historical jitter data set including a plurality of historical position coordinates and a plurality of historical jitter data sets, each historical position coordinate corresponds to a historical jitter data set, the historical jitter data set including historical jitter data and a historical jitter factor;

[0021] When there is a historical position coordinate identical to the position coordinate in the historical jitter data set, correcting the position coordinate using a historical jitter factor corresponding to the historical position coordinate;

[0022] When there is no historical position coordinate identical to the position coordinate in the historical jitter data set, the position coordinate is corrected according to the historical jitter data set.

[0023] Furthermore, when the position coordinates are corrected according to the historical jitter data set, the method includes:

[0024] Set the number of clusters k to 2, randomly select two historical location coordinates in the historical jitter dataset as the first cluster center and the second cluster center, calculate the distance from each historical location coordinate in the historical jitter dataset to the first cluster center and the second cluster center, and assign it to the cluster with the closest distance. If the distances are the same, assign it to the cluster where the first cluster center is located;

[0025] According to the allocation result, the cluster where the center of the first cluster is located is determined as a first position coordinate cluster, and the cluster where the center of the second cluster is located is determined as a second position coordinate cluster;

[0026] Extracting a historical jitter factor of the historical position coordinate corresponding to the first median in the first position coordinate cluster and recording it as a first jitter factor, extracting a historical jitter factor of the historical position coordinate corresponding to the second median in the second position coordinate cluster and recording it as a second jitter factor;

[0027] The position coordinates are corrected using an average value of the first jitter factor and the second jitter factor.

[0028] Furthermore, when determining the docking pressure of the mating connector based on the docking data, the method includes:

[0029] Presetting a first preset object height and a second preset object height, wherein the first preset object height is greater than the second preset object height;

[0030] Presetting a first preset docking pressure, a second preset docking pressure, and a third preset docking pressure, wherein 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;

[0031] When the height of the object is greater than or equal to a first preset object height, determining the first preset docking pressure as the docking pressure;

[0032] When the object height is less than the first preset object height and greater than the second preset object height, the second preset docking pressure is determined as the docking pressure;

[0033] When the object height is less than or equal to the second preset object height, the third preset docking pressure is determined as the docking pressure.

[0034] Furthermore, when determining the docking adjustment coefficient based on the friction coefficient and the docking friction model, the method includes:

[0035] Obtain the friction dataset and sample it according to the sampling ratio to obtain the training set and test set;

[0036] Acquire a data model, train the data model according to the training set, and test the trained data model according to the test set;

[0037] 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, then 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;

[0038] Substituting the friction coefficient into the docking friction model to determine the docking adjustment coefficient;

[0039] The data model includes an RBF neural network model or a PB neural network model.

[0040] Furthermore, when constructing an adjustment curve diagram according to all docking behaviors and the docking adjustment coefficient, and determining the docking adjustment factor according to the adjustment curve diagram, the process includes:

[0041] Constructing the docking adjustment coefficient and the docking adjustment coefficients corresponding to all docking behaviors into a docking adjustment set;

[0042] Converting all docking adjustment coefficients in the docking adjustment set into coordinate points;

[0043] Arrange each docking behavior in chronological order to construct an X-axis, and construct a Y-axis based on the docking adjustment set, wherein the X-axis coordinate value of the coordinate point represents a docking behavior, and the Y-axis coordinate value of the coordinate point represents a docking adjustment coefficient value;

[0044] Determine the adjustment curve graph according to the X-axis, the Y-axis and all coordinate points;

[0045] When no slope in the adjustment curve graph is greater than or less than zero, any docking adjustment coefficient is determined as the docking adjustment factor; otherwise, an average value of the docking adjustment set is determined as the docking adjustment factor.

[0046] Furthermore, when adjusting the docking pressure according to the docking adjustment factor, the method includes:

[0047] The docking pressure is positively correlated with the docking adjustment factor.

[0048] Compared with the prior art, the beneficial effect of the present invention is that: when dealing with the mechanical oscillation of the equipment, 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, and 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, which effectively offsets the influence of the mechanical oscillation caused by the high-speed operation of the equipment, so that the mating connector can be docked with the connector to be docked, avoiding the docking deviation caused by the oscillation, thereby ensuring the operation efficiency of the equipment, obtaining the friction coefficient and determining the docking adjustment coefficient based on the docking friction model, and constructing an adjustment curve diagram based on all the statistical docking behaviors to determine the docking adjustment factor, so as to adjust the docking pressure and realize the precise regulation of the docking pressure, thereby ensuring the electrical connection between the mating connector and the connector to be docked, and ensuring the stability and security of power, signal and data transmission.

[0049] 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, including:

[0050] a data acquisition module configured to acquire docking data of the connector to be docked and generate docking point cloud data from the docking data, extract feature points from the docking point cloud data and construct a three-dimensional docking model;

[0051] a jitter analysis module configured to obtain position coordinates of the connector to be docked in the three-dimensional docking model, collect jitter data of the connector to be docked, determine whether to correct the position coordinates based on the jitter data and determine target position coordinates, and determine a docking pressure of the mating connector based on the docking data;

[0052] a docking processing module configured to obtain a friction coefficient between the mating connector and the to-be-mated connector, determine a docking adjustment coefficient based on the friction coefficient and a docking friction model, collect statistics on all docking behaviors of the mating connectors, construct an adjustment curve graph based on all docking behaviors and the docking adjustment coefficient, and determine a docking adjustment factor based on the adjustment curve graph;

[0053] The docking adjustment module is configured to adjust the docking pressure according to the docking adjustment factor, and dock the mating connector and the to-be-docked connector using the adjusted docking pressure and the target position coordinates.

[0054] It is understandable that the above-mentioned method and system for controlling the docking of connectors have the same beneficial effects, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0056] Figure 1 A flowchart of a method for controlling a connection of a connector according to an embodiment of the present invention;

[0057] Figure 2 This is a functional block diagram of a docking control system for a connector provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0058] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying 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 to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, unless there is a conflict, the embodiments of the present disclosure 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 accompanying drawings and in conjunction with the embodiments.

[0059] In some embodiments of this application, see Figure 1 As shown, a method for controlling a docking of a connector includes:

[0060] S100: Acquire docking data of the connector to be docked and 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.

[0061] S200: Acquire position coordinates of the connector to be docked in the three-dimensional docking model, collect 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.

[0062] S300: Obtaining a friction coefficient between a mating connector and a connector to be mated, determining a docking adjustment coefficient based on the friction coefficient and a docking friction model, and counting all docking behaviors of the mating connectors. Building an adjustment curve based on all docking behaviors and the docking adjustment coefficients, and determining a docking adjustment factor based on the adjustment curve.

[0063] S400: Adjusting the docking pressure according to the docking adjustment factor, and docking the mating connector and the to-be-docked connector using the adjusted docking pressure and the target position coordinates.

[0064] 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 equipment, and the mating connector is used to dock with the connector to be docked, thereby realizing power, signal, and data transmission. The docking data of the connector to be docked is obtained and docking point cloud data is generated. Docking point cloud data is a data format that uses a large number of discrete points to describe the surface shape of an object. It can accurately record the geometric feature information of the connector to be docked and extract the feature points of the docking point cloud data. These feature points are 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 converted into an intuitive and operational three-dimensional docking model, providing a reliable foundation for subsequent docking operations. The position coordinates of the connector to be docked are obtained in the three-dimensional docking model, and its jitter data is collected at the same time. When the equipment is running, mechanical vibration will cause the connector to be docked to have a certain amount of jitter. Vibration measuring instruments, gyroscope sensors and other collection equipment are used to obtain the jitter data of the connector to be docked caused by mechanical vibration, and the jitter data is analyzed 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 or micron vibration, which is smaller in magnitude than the mating connector and is within the error range allowed by the mating connector. There is no need to adjust it. The error range allowed by the mating connector is determined according to the instructions for use of the mating connector and the connector to be docked.

[0065] It is understandable that the docking pressure of the mating connector is determined based on the docking data. The docking pressure must meet the basic requirements of electrical connection. In addition, 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. The friction coefficients of different materials and surface treatments are different. For example, when there is a small friction coefficient, pressure overflow may occur when docking is performed according to the docking pressure, resulting in damage to the mating connector and the connector to be docked. When there is a large friction coefficient, insufficient pressure may occur when docking is performed according to the same docking pressure, resulting in unstable docking and even the risk of the mating connector falling off. The docking adjustment coefficient is determined in combination with the docking friction model, and all docking behaviors of the mating connectors are counted. An adjustment curve is constructed based on these docking behaviors and the docking adjustment coefficient. The adjustment curve reflects all possible situations in the docking process. The docking adjustment factor is determined to adjust the docking pressure accordingly, ensuring the stability and reliability of the docking process, avoiding docking deviation caused by equipment vibration and the risk of poor connection caused by unstable docking, and improving the reliability and stability of the docking.

[0066] In some embodiments of the present application, when obtaining docking data of a connector to be docked and generating docking point cloud data from the docking data, and extracting feature points of the docking point cloud data, it includes: the docking data includes object data and posture data, obtaining several initial object data of the connector to be docked, and taking the average of several initial object data as object data, the object data is the object height, object length and object width of the connector to be docked, the posture data is the motion posture of the connector to be docked, the docking point cloud data is the collection data of all points on the object height, object length and object width, and extracting feature points of the docking point cloud data is calculating the normal vector of each point in the docking point cloud data.

[0067] Specifically, obtaining several initial object data points of the connector to be docked and taking the average as the object data avoids interference caused by accidental data, effectively reduces measurement errors, and improves the accuracy of the object data, so that the determined object height, object length, and object width can accurately reflect the actual size of the connector to be docked. The posture data reflects the motion posture of the connector to be docked, which is crucial for accurately grasping its spatial position. The docking point cloud data is the collection of 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. The normal vector of each point in the docking point cloud data is calculated. The normal vector is a vector perpendicular to the plane in which the point is located. The normal vector can be determined using 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, improving the reliability and stability of docking control.

[0068] In some embodiments of the present application, when determining whether to correct the position coordinates and determine the target position coordinates based on the jitter data, it includes: when the jitter data is greater than or equal to the jitter data threshold, determining to correct the position coordinates, and determining the correction result as the target position coordinates; when the jitter data is less than the jitter data threshold, determining not to correct the position coordinates, and determining the position coordinates as the target position coordinates.

[0069] Specifically, the jitter data threshold is a pre-set reference value used to measure whether the mechanical jitter of the device will affect the docking of the mating connector. The jitter data threshold can be set through the instructions for use of the mating connector and the connector to be docked. When the jitter data is greater than or equal to the jitter data threshold, it means that the jitter amplitude is 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 connector. Therefore, there is no need to correct the position coordinates and the position coordinates are directly determined as the target position coordinates. On the one hand, unnecessary correction operations are avoided and the efficiency of docking is improved. On the other hand, failures caused by inaccurate docking are reduced, thereby ensuring the stability and security of power, signal and data transmission.

[0070] 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 several historical position coordinates and several 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 are historical position coordinates that are identical to the position coordinates in the historical jitter data set, the position coordinates are corrected using the historical jitter factor corresponding to the historical position coordinates, and when there are no historical position coordinates that are identical to the position coordinates in the historical jitter data set, the position coordinates are corrected according to the historical jitter data set.

[0071] Specifically, the historical jitter dataset contains several historical position coordinates and corresponding historical jitter datasets. Each historical jitter dataset contains historical jitter data and historical jitter factors. By determining the degree of matching with the historical successful adjustment conditions, when the historical jitter dataset contains historical position coordinates that are the same as the current position coordinates, it means that there has been a record of jitter at that position before. These data can be directly used to determine the historical jitter factor, thereby ensuring the reliability and consistency of the correction process. The historical jitter factor is used to correct the position coordinates. During correction, the position coordinates and the historical jitter factor are added together. For example: the position coordinates represent (1, 2, 6), the historical jitter factor represents (0, 0, -2), and the corrected position coordinates represent (1, 2, 4). Through data-driven automatic adjustment, learning and optimization can be carried out from historical experience, thereby continuously improving the accuracy and efficiency of docking control. If the current docking conditions do not match the historical jitter dataset, it means that the current position coordinates are new and there is no direct historical experience to refer to. In this case, further analysis of the historical jitter dataset is used to correct the position coordinates, ensuring the adaptability and flexibility of docking control in different situations, thereby ensuring the reliability of power, signal and data transmission.

[0072] In some embodiments of the present application, when correcting the position coordinates based on the historical jitter data set, it includes: setting the cluster number k=2, randomly selecting two historical position coordinates in the historical jitter data set as the first cluster center and the second cluster center, calculating the distance of each historical position coordinate in the historical jitter data set to the first cluster center and the second cluster center, and assigning it to the cluster with the closest distance. When the distance is the same, it is assigned to the cluster where the first cluster center is located, and 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, extracting the historical jitter factor of the historical position coordinate corresponding to the first median in the first position coordinate cluster and recording it as the first jitter factor, extracting the historical jitter factor of the historical position coordinate corresponding to the second median in the second position coordinate cluster and recording it as the second jitter factor, and correcting the position coordinates by taking the average value of the first jitter factor and the second jitter factor.

[0073] Specifically, the number of clusters k is set to 2, which means that the historical position coordinates are divided into two categories. Two historical position coordinates are randomly selected as cluster centers. By calculating the distance between each historical position coordinate and the two cluster centers, it is divided into the cluster with the closest distance. If the distance is the same, it is divided into the first position coordinate cluster. In this way, similar historical position coordinates can be clustered together to form two position coordinate clusters. The median is found in each position coordinate cluster. The median can represent the middle level of the cluster. Using the median to determine the corresponding jitter factor can reduce the influence of extreme values ​​in the historical jitter data set. The jitter factors corresponding to the two clusters are averaged, and the position coordinates are corrected with this average value, which reduces the interference of individual historical position coordinates, makes full use of the historical jitter data set, and mines data from historical experience to ensure the stability and reliability of docking control.

[0074] In some embodiments of the present application, when determining the docking pressure of the mating connector based on docking data, it includes: pre-setting a first preset object height and a second preset object height, the first preset object height is greater than the second preset object height, pre-setting a first preset docking pressure, a second preset docking pressure and a third preset docking pressure, 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, the first preset docking pressure is determined as the docking pressure; when the object height is less than the first preset object height and greater than the second preset object height, the second preset docking pressure is determined as the docking pressure; when the object height is less than or equal to the second preset object height, the third preset docking pressure is determined as the docking pressure.

[0075] Specifically, the object height reflects the actual height of the connector to be docked. For connectors with a higher object height, this means that the mating connector needs to be inserted to a certain depth to effectively dock with the connector to be docked, so a greater docking pressure is required to ensure the mating of the mating connector and the connector to be docked. A lower object height means a smaller insertion depth, and a greater docking pressure is not required to dock the mating connector and the connector to be docked. By dynamically selecting the docking pressure by comparing the height of the connector to be docked with the preset object height, the risk of damage to the connector due to excessive docking pressure or loose connection or poor contact due to insufficient pressure is avoided, thereby improving the reliability of docking control.

[0076] 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, and sampling according to a sampling ratio to obtain a training set and a test set, obtaining a data model, and training the data model according to the training set, and 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 previously trained data model, the training is stopped, and the currently trained data model is determined as the docking friction model. Otherwise, the hyperparameters are adjusted and training is continued until it is greater than or equal to the test value of the previously trained data model. The friction coefficient is substituted 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.

[0077] Specifically, the friction coefficient can be determined by referring to the material properties of the mating connector and the connector to be mated. The friction dataset includes the material data, surface roughness, and corresponding sample values ​​of the mating connector and the connector to be mated. The friction dataset is divided into a training set and a test set according to the sampling ratio. The sampling ratio 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. The data model is selected as the initial model. This model contains neurons and activation functions, and is designed to capture the complex relationships in the data. The data model is trained using the data in the training set. In each training, the model will try to learn the patterns and relationships in the data to improve its prediction or classification capabilities. After each iterative training, the model is tested using the data in the test set to determine the test value. The test indicators 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 previously trained data model, it indicates that the model performance has improved or remained stable. At this time, 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 declined. At this time, it is necessary to adjust the model's hyperparameters (learning rate) and then continue training. This helps the model more stably approach the global optimal solution. 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, thereby ensuring the reliability of the docking control.

[0078] In some embodiments of the present application, when constructing an adjustment curve graph based on all docking behaviors and docking adjustment coefficients, and determining the docking adjustment factor based on the adjustment curve graph, it includes: constructing the docking adjustment coefficient and the docking adjustment coefficients corresponding to all docking behaviors into a docking adjustment set, converting all docking adjustment coefficients in the docking adjustment set into coordinate points, arranging each docking behavior in chronological order to construct an X-axis, constructing a Y-axis based on 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 a value of a docking adjustment coefficient, determining an adjustment curve graph based on 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, 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.

[0079] Specifically, a visual adjustment curve is used to determine the docking adjustment factor. The docking adjustment coefficient and the adjustment coefficients corresponding to all docking actions are combined into a docking adjustment set, which is then converted into coordinate points. The docking actions are arranged in chronological order to construct the X-axis. The X-axis coordinate value represents a docking action. Since docking has not yet been performed when the docking adjustment coefficient is determined, the docking action that has not yet been performed is placed after the total docking action. The Y-axis is constructed with the docking adjustment coefficient, thus plotting the adjustment curve. The adjustment curve reflects the changing trend of the docking adjustment coefficient with docking behavior. If the adjustment curve does not have a slope greater than or less than zero, it means that the docking adjustment coefficient does not change with docking behavior and remains constant. In this case, any docking adjustment coefficient can be selected. If the slope is greater than or less than zero, it indicates that the docking adjustment coefficient is trending. The average value of the docking adjustment set is used as the docking adjustment factor. This comprehensively considers all data to determine the overall level of the docking adjustment coefficient. Taking the average value when there is a trend effectively eliminates the influence of random factors, making the docking adjustment factor representative and improving the stability and reliability of docking control.

[0080] In some embodiments of the present application, when the docking pressure is adjusted according to the docking adjustment factor, it includes: the docking pressure is positively correlated with the docking adjustment factor.

[0081] Specifically, the docking pressure is adjusted according to the docking adjustment factor. When a higher docking pressure or a lower docking pressure is required, the docking adjustment factor is used to make corresponding adjustments. Regardless of whether the docking adjustment factor and the docking pressure have a linear or nonlinear relationship, the docking pressure can be adjusted through the docking adjustment factor, thereby improving the stability and reliability of the docking control.

[0082] In summary, the beneficial effects of the present invention are: when dealing with the mechanical oscillation of the equipment, 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, and 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, which effectively offsets the influence of the mechanical oscillation caused by the high-speed operation of the equipment, so that the matching connector can be docked with the connector to be docked, avoiding the docking deviation caused by the oscillation, thereby ensuring the operation efficiency of the equipment, obtaining the friction coefficient and determining the docking adjustment coefficient based on the docking friction model, and constructing an adjustment curve diagram based on all the statistical docking behaviors to determine the docking adjustment factor, so as to adjust the docking pressure and realize the precise regulation of the docking pressure, thereby ensuring the electrical connection between the matching connector and the connector to be docked, and ensuring the stability and security of power, signal and data transmission.

[0083] In another preferred embodiment based on the above embodiment, refer to Figure 2As shown, this embodiment provides a docking control system for a connector, which is used to apply the above-mentioned docking control method for a connector, including:

[0084] The data acquisition module is configured to obtain docking data of the connector to be docked and 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.

[0085] The jitter analysis module is configured to obtain the position coordinates of the connector to be docked in the three-dimensional docking model and collect jitter data of the connector to be docked, determine whether to correct the position coordinates and determine the target position coordinates based on the jitter data, and determine the docking pressure of the matching connector based on the docking data.

[0086] The docking processing module is configured to 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 docking behaviors of the mating connectors, and construct an adjustment curve diagram based on all docking behaviors and the docking adjustment coefficient, and determine the docking adjustment factor based on the adjustment curve diagram.

[0087] The docking adjustment module is configured to adjust the docking pressure according to the docking adjustment factor, and dock the mating connector and the connector to be docked using the adjusted docking pressure and the target position coordinates.

[0088] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0089] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0090] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0091] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A method for controlling the docking of a connector, characterized in that: include: Acquiring docking data of the connector to be docked and generating docking point cloud data from the docking data, extracting feature points from the docking point cloud data and constructing a three-dimensional docking model; Acquiring position coordinates of the connector to be docked in the three-dimensional docking model, collecting jitter data of the connector to be docked, determining whether to correct the position coordinates and determining target position coordinates based on the jitter data, and determining a docking pressure of the mating connector based on the docking data; Obtaining a friction coefficient between the mating connector and the connector to be mated, determining a docking adjustment coefficient based on the friction coefficient and a docking friction model, collecting statistics on all docking behaviors of the mating connectors, constructing an adjustment curve graph based on all docking behaviors and the docking adjustment coefficient, and determining a docking adjustment factor based on the adjustment curve graph; adjusting the docking pressure according to the docking adjustment factor, and docking the mating connector and the to-be-docked connector using the adjusted docking pressure and the target position coordinates; When determining whether to correct the position coordinates and determine the target position coordinates according to the jitter data, the method includes: When the jitter data is greater than or equal to a jitter data threshold, determining to correct the position coordinates, and determining the correction result as the target position coordinates; When the jitter data is less than a jitter data threshold, determining not to correct the position coordinates and determining the position coordinates as the target position coordinates; When determining to correct the position coordinates, the method includes: Acquire a historical jitter data set, the historical jitter data set including a plurality of historical position coordinates and a plurality of historical jitter data sets, each historical position coordinate corresponds to a historical jitter data set, the historical jitter data set including historical jitter data and a historical jitter factor; When there is a historical position coordinate identical to the position coordinate in the historical jitter data set, correcting the position coordinate using a historical jitter factor corresponding to the historical position coordinate; When there is no historical position coordinate identical to the position coordinate in the historical jitter data set, correcting the position coordinate according to the historical jitter data set; When the position coordinates are corrected according to the historical jitter data set, the method includes: Set the number of clusters k to 2, randomly select two historical location coordinates in the historical jitter dataset as the first cluster center and the second cluster center, calculate the distance from each historical location coordinate in the historical jitter dataset to the first cluster center and the second cluster center, and assign it to the cluster with the closest distance. If the distances are the same, assign it to the cluster where the first cluster center is located; According to the allocation result, the cluster where the center of the first cluster is located is determined as a first position coordinate cluster, and the cluster where the center of the second cluster is located is determined as a second position coordinate cluster; Extracting a historical jitter factor of the historical position coordinate corresponding to the first median in the first position coordinate cluster and recording it as a first jitter factor, extracting a historical jitter factor of the historical position coordinate corresponding to the second median in the second position coordinate cluster and recording it as a second jitter factor; The position coordinates are corrected using an average value of the first jitter factor and the second jitter factor.

2. The method for controlling the docking of connectors according to claim 1, wherein: When acquiring docking data of a connector to be docked and generating docking point cloud data from the docking data, and extracting feature points of the docking point cloud data, the method includes: The docking data includes object data and posture data; Acquire a plurality of initial object data of the connector to be docked, and use an average of the plurality of 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 posture data is the motion posture of the connector to be docked; The docking point cloud data is the collection data of all points on the height, length and width of the object, and 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 method for controlling the docking of connectors according to claim 2, wherein: When determining the mating pressure of the mating connector based on the mating data, the method includes: Presetting a first preset object height and a second preset object height, wherein the first preset object height is greater than the second preset object height; Presetting a first preset docking pressure, a second preset docking pressure, and a third preset docking pressure, wherein 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 height of the object is greater than or equal to a first preset object height, determining 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, the second preset docking pressure is determined as the docking pressure; When the object height is less than or equal to the second preset object height, the third preset docking pressure is determined as the docking pressure.

4. The method for controlling the docking of connectors according to claim 3, wherein: When determining the docking adjustment coefficient based on the friction coefficient and the docking friction model, it includes: Obtain the friction dataset and sample it according to the sampling ratio to obtain the training set and test set; Acquire 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, then 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; Substituting 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.

5. The method for controlling the docking of connectors according to claim 4, wherein: When an adjustment curve is constructed according to all docking behaviors and the docking adjustment coefficient, and a docking adjustment factor is determined according to the adjustment curve, the method includes: Constructing the docking adjustment coefficient and the docking adjustment coefficients corresponding to all docking behaviors into a docking adjustment set; Converting all docking adjustment coefficients in the docking adjustment set into coordinate points; Arrange each docking behavior in chronological order to construct an X-axis, and construct a Y-axis based on the docking adjustment set, wherein the X-axis coordinate value of the coordinate point represents a docking behavior, and the Y-axis coordinate value of the coordinate point represents a docking adjustment coefficient value; Determine the adjustment curve graph according to the X-axis, the Y-axis and all coordinate points; When no slope in the adjustment curve graph is greater than or less than zero, any docking adjustment coefficient is determined as the docking adjustment factor; otherwise, an average value of the docking adjustment set is determined as the docking adjustment factor.

6. The method for controlling the docking of connectors according to claim 5, wherein: When adjusting the docking pressure according to the docking adjustment factor, the method includes: The docking pressure is positively correlated with the docking adjustment factor.

7. A docking control system for a connector, used to apply the docking control method for a connector according to any one of claims 1 to 6, characterized in that: include: a data acquisition module configured to acquire docking data of the connector to be docked and generate docking point cloud data from the docking data, extract feature points from the docking point cloud data and construct a three-dimensional docking model; a jitter analysis module configured to obtain position coordinates of the connector to be docked in the three-dimensional docking model, collect jitter data of the connector to be docked, determine whether to correct the position coordinates based on the jitter data and determine target position coordinates, and determine a docking pressure of the mating connector based on the docking data; a docking processing module configured to obtain a friction coefficient between the mating connector and the to-be-mated connector, determine a docking adjustment coefficient based on the friction coefficient and a docking friction model, collect statistics on all docking behaviors of the mating connectors, construct an adjustment curve graph based on all docking behaviors and the docking adjustment coefficient, and determine a docking adjustment factor based on the adjustment curve graph; The docking adjustment module is configured to adjust the docking pressure according to the docking adjustment factor, and dock the mating connector and the to-be-docked connector using the adjusted docking pressure and the target position coordinates.

Images