High-precision diaphragm control method and system based on flexible bellows

Abstract

The present application relates to the technical field of diaphragm control, in particular to a high-precision diaphragm control method and system based on a flexible bellows, the texture direction of interference fringes is extracted to locate trajectory mutations and map control positions, the action transmission relationship of adjacent segments is analyzed and the correction direction path is established, the compensation area is divided in combination with inductive feedback at the end of the sample rod, the micro-motion equipment is started to generate a linear displacement trajectory along the attribution path, the abnormal coverage range is verified by backtracking the trajectory, and the end point docking signal, the diaphragm control result is obtained by induction feedback. The present application forms an accurate pointing through segment state space correlation analysis, establishes path distinguishability and direction stability limitation in combination with continuous extension relationship of transmission, establishes action guidance and contact position correspondence to clearly define the compensation area attribution, and constructs a traceable displacement trajectory and feedback correlation to realize correction continuity and closure, thereby reducing interference in complex transmission and improving hole position adjustment certainty and control stability.

Description

Technical Field

[0001] This invention relates to the field of aperture control technology, and in particular to a high-precision aperture control method and system based on flexible bellows. Background Technology

[0002] The field of aperture control technology includes control methods for adjusting the aperture size of through-holes in optical or electron beam systems. The core of this technology lies in the spatial constraint and adjustment of the propagation path of the beam or electron beam in the channel according to the system's working requirements. Its overall technical system involves the comprehensive application of optical structure design, mechanical drive structure, material adaptability design, and environmentally adaptable control methods. In high-precision equipment such as electron microscopes, particle accelerators, and spectrometers, aperture control not only needs to have adjustable size, but also needs to meet the requirements of structural stability, non-magnetism, ultra-high vacuum performance, and no interference with micro particle beams in specific application environments. Traditional apertures often adopt a structure with multiple movable blades, and the opening is adjusted by mechanical or electric drive. However, in high vacuum and pollution-free environments, complex mechanical moving structures are prone to lubricant evaporation, particle shedding, and motion failure, making it difficult to meet the application requirements of ultra-cleanliness and stability.

[0003] Among them, the high-precision aperture control method based on flexible bellows refers to a control method that connects the inner and outer vacuum structures by setting up a flexible metal bellows and uses an external mechanical drive to drive the transmission rod to complete the aperture displacement and selection process. To address the transmission problem of long rod apertures in high vacuum and small-sized cavity environments, an axially telescopic flexible bellows is used as the power transmission medium. Combined with an external motor, linear displacement is achieved through an eccentric wheel device. The aperture position is switched and adjusted by an internal transmission rod and slider mechanism. A metal welded sealing structure is used to ensure vacuum isolation. The angle of the aperture rod is finely adjusted by controlling the angle difference of the eccentric wheel, thereby achieving precise alignment of the aperture center position.

[0004] Existing technologies use overall displacement transmission as the basis for adjustment. In cases where the transmission path is long and includes flexible connections, the control result depends on the end response state. It is difficult to distinguish between directional deflection and local deformation formed during the transmission process. When the force distribution of the structure changes, the source of the offset lacks a clear direction, which makes the adjustment behavior easy to accumulate along non-target directions. In high vacuum and precision alignment scenarios, repeated offset or inconsistent switching of the aperture position is likely to occur, which in turn affects the stability and adjustment efficiency of the aperture control process. Summary of the Invention

[0005] To address the technical problems existing in the prior art, embodiments of the present invention provide a high-precision aperture control method and system based on a flexible bellows. The technical solution is as follows: A high-precision aperture control method based on flexible bellows includes the following steps: S1: Obtain interference fringe images of each segment of the flexible bellows, extract the texture extension direction, track the texture movement trajectory, identify the location of the segment with abrupt trajectory changes, combine the segment spatial location, map it to the control part, connect it to the component number, and obtain the aperture control offset segment position number. S2: Using the position of the trajectory abrupt segment in the position number of the aperture control offset segment, expand the segment connection range, identify the texture deflection relationship, analyze the pushing or compression behavior, construct the action transmission chain, clarify the action input direction, and obtain the aperture control correction direction path; S3: Based on the action direction extended from the direction path in the aperture control correction direction path, extend the action to the end of the sample rod, locate the contact response block, combine the inductance feedback to divide the response trend, extract the belonging path in the path direction, and form the aperture position offset compensation direction area. S4: Based on the orientation path in the aperture position offset compensation direction area, determine the starting position of the sample rod end action guide, start the micro-motion control device and advance along the orientation path, so that the action is consistently transmitted to the core control part of the aperture, mark the linear advancement trajectory, and generate the aperture position displacement trajectory.

[0006] As a further aspect of the present invention, the aperture control offset segment position number is specifically an abnormal segment number, an associated control part number, and a transmission path positioning number; the aperture control correction direction path includes the axial action direction, the radial action direction, and the direction of the transmission resultant force; the aperture hole position offset compensation direction area is specifically the hole position force quadrant, the compensation contact area, and the offset correction orientation area; and the aperture hole position displacement trajectory includes the hole position movement start point, the hole position movement end point, and the hole position displacement range.

[0007] As a further aspect of the present invention, the step of obtaining S1 is as follows: S101: Acquire interference fringe images in each segment of the flexible corrugated pipe, identify the continuously distributed interference fringe lines in the image segment by segment according to the image acquisition order, extract texture direction information by combining the image boundary area, and establish the correspondence between each segment image and the image sequence number to generate segment image texture sequence. S102: Based on the segment image texture sequence, observe the extension direction and distribution of texture lines in the image segment by segment, track the continuous direction change trajectory of texture lines in each segment, mark the segment positions where direction changes occur, and determine the corresponding transmission path area by combining the numbering information to obtain the texture change segment identifier set. S103: Based on the texture mutation segment identifier set, call the spatial positioning relationship of the mutation segment in the aperture transmission path, compare the control part number associated with each identifier segment in turn, establish the corresponding connection between the segment position and the control part, and obtain the aperture control offset segment position number.

[0008] As a further aspect of the present invention, the step of obtaining S2 is as follows: S201: Using the aperture control offset segment position number corresponding to the trajectory change segment position, extend forward and backward a set number of segments along the transmission path direction, establish the correspondence between the arrangement number of each extended segment in the sequence and the image number, determine the complete segment connection range, and obtain the segment connection location combination; S202: Based on the segment connection location combination, call the texture extension direction in each segment image, compare the angle deflection direction of the texture direction between adjacent segments in turn, determine the connection state between segments based on the angle orientation, distinguish the number of segments in continuous segments that exhibit pushing or compression behavior, and form a segment connection behavior classification distribution. S203: Based on the classification and distribution of the segment connection behavior, extract the direction path formed by the continuous response action between the connecting segments according to the continuation direction of the pushing behavior and the segment numbering order of the transmission channel, establish a continuous direction chain of action transmission according to the path direction, and obtain the aperture control correction direction path.

[0009] As a further aspect of the present invention, the step of obtaining S3 is as follows: S301: Based on the action direction extended from the direction path in the aperture control correction direction path, extend the action direction to the end on the transmission path until the end area of ​​the sample rod, obtain the distribution boundary position of the end edge area in the transmission path direction, and associate the contact point of the action direction at the end edge to form the action end contact distribution range. S302: Based on the contact distribution range of the action end, call the corresponding area number and real-time feedback signal of the inductive detection device deployed within the contact range, filter the areas where the feedback value shows response fluctuation in the direction of action propulsion, and divide the response tendency of the surrounding area according to the feedback intensity change rate to construct the action propulsion trend response distribution. S303: Based on the action advancement trend response distribution, compare the spatial correspondence between the contact boundary number of each response region on the aperture hole surface and the assembly connection position in the aperture assembly, extract the connection continuity region chain according to the action advancement direction, and organize the path of each region chain direction to obtain the aperture hole offset compensation direction region.

[0010] As a further aspect of the present invention, the step of obtaining S4 is as follows: S401: Based on the azimuth path in the aperture offset compensation direction area, determine the starting position of the sample rod end action guidance, obtain the starting position coordinates and azimuth path direction information, start the micro-motion control device for the starting position, record the device start time and initial propulsion direction, and establish the end action guidance starting position coordinates; S402: Based on the starting coordinates of the end action guide, the sample rod end component is continuously advanced along the orientation path direction. The direction change of the sample rod end component at each advancement position in the contact transmission area is monitored. The direction deviation that occurs during the advancement is judged and the direction correction is performed to form a continuous advancement path record and obtain the end linear advancement path sequence. S403: According to the end linear propulsion path sequence, the action is transmitted along the propulsion path to the core control part of the aperture, the propulsion positions in the propulsion path are sequentially marked, the marked positions are connected to form a continuous linear trajectory, and the trajectory displacement distribution is sorted out to generate the aperture position displacement trajectory.

[0011] As a further aspect of the present invention, the method further includes: S5: Along the linear advancement trajectory in the aperture position displacement trajectory, trace back the advancement direction in the end action path, match the action direction of the offset segment, analyze the relationship between the trajectory and the abnormal area, extend to the termination position, determine the coverage of the response segment, extract the termination feedback signal, and obtain the aperture control completion result. The results of the aperture control are specifically the aperture alignment status, switching response status, and control completion feedback signal.

[0012] As a further aspect of the present invention, the step of obtaining S5 is as follows: S501: Along the linear propulsion trajectory in the displacement trajectory of the aperture, trace back the propulsion direction of the end action path, make alignment judgment based on the propulsion direction and the action direction of the transmission offset segment, record the segment numbers corresponding to the direction of consistency and direction deviation, organize the correspondence between the extension interval of the linear propulsion trajectory and the distribution area of ​​the offset segment, and generate the propulsion direction matching interval. S502: Based on the propulsion direction matching interval, determine the coverage range of the linear propulsion trajectory on the transmission path, detect whether the trajectory crosses the transmission abnormality mark area, continue the linear propulsion path to the action termination position, mark the termination position in the corresponding number range in the aperture switching area, and establish the termination position coverage range. S503: Based on the coverage range of the termination area, determine the connection status between the action end and the aperture switching area response segment, collect the inductor detection feedback signal at the termination position, and classify it into the end feedback sequence according to the extension order of the action path. Integrate the feedback sequence status information to obtain the aperture control completion result.

[0013] A high-precision aperture control system based on a flexible bellows, the system comprising: The texture trajectory recognition module acquires interference fringe images of each segment of the flexible bellows, extracts the texture extension direction, tracks the texture movement trajectory, identifies the position of the segment with abrupt trajectory change, combines the segment spatial position, maps it to the control part, connects it to the component number, and obtains the position number of the aperture control offset segment. The transmission direction analysis module uses the trajectory abrupt segment position in the position number of the aperture control offset segment to expand the segment connection range, identify texture deflection relationship, analyze pushing or compression behavior, construct action transmission chain, clarify action input direction, and obtain aperture control correction direction path. The aperture position compensation determination module extends the action to the end of the sample rod according to the action direction of the direction path in the aperture control correction direction path, locates the contact response block, divides the response trend in combination with inductive feedback, extracts the belonging path in the path direction, and forms the aperture position offset compensation direction area. The micro-motion guidance execution module determines the starting position of the sample rod end action guidance according to the orientation path in the aperture position offset compensation direction area, starts the micro-motion control device and advances along the orientation path, so that the action is consistently transmitted to the core control part of the aperture, marks the linear advancement trajectory, and generates the aperture position displacement trajectory. The end feedback verification module traces the linear advancement trajectory along the aperture position displacement trajectory, backtracks the advancement direction in the end action path, matches the action direction of the offset segment, analyzes the relationship between the trajectory and the abnormal area, extends to the termination position, determines the coverage of the response segment, extracts the termination feedback signal, and obtains the aperture control completion result.

[0014] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: In this invention, by analyzing the spatial correlation of the states of each segment in the flexible transmission structure, a precise pointing capability for the action response position is formed, enabling the control process to have path discernibility and directional consistency. Combined with the continuous extension relationship of the action input in the transmission chain, the direction of action of the controlled area is stably defined, and the action guidance is correlated with the contact position of the hole, so that the compensation behavior has a clear regional belonging characteristic. During the action advancement process, a traceable displacement trajectory and feedback correlation are constructed, so that the offset correction has continuity and closure. This improves the determinism of hole adjustment in complex transmission environments, reduces interference from non-target directions, and improves the stability of the aperture control result. Attached Figure Description

[0015] Figure 1 This is a flowchart of the method of the present invention; Figure 2 This is a flowchart illustrating the acquisition process of S1 in this invention; Figure 3 This is a flowchart illustrating the acquisition process of S2 in this invention; Figure 4 This is a flowchart illustrating the acquisition process of S3 in this invention; Figure 5 This is a flowchart illustrating the acquisition process of S4 in this invention; Figure 6 This is a flowchart of the acquisition process for S5 of the present invention. Detailed Implementation

[0016] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0017] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0018] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0019] Please see Figure 1 This invention provides a technical solution: a high-precision aperture control method based on a flexible bellows, comprising the following steps: S1: Obtain interference fringe images in each segment of the flexible bellows, extract the texture extension direction in the interference fringe images segment by segment according to the physical order, observe the distribution trend of the texture direction segment by segment along the axial direction, track the movement trajectory of the lines, identify the position where the movement trajectory direction changes abruptly, combine the spatial correspondence of the segments in the aperture transmission path and associate the action direction, locate the action response area corresponding to the trajectory change, map it to the control part in the aperture transmission path, connect the control part with the corresponding component number, and obtain the aperture control offset segment position number. S2: Using the position of the trajectory abrupt change segment corresponding to the position number of the aperture control offset segment, extend to both sides of the transmission path to form a segment connection range, determine the directional location of each segment in the overall transmission path within the segment connection range, combine the texture extension direction of each segment, compare the relative deflection state of the texture direction of adjacent segments to analyze the motion propulsion tendency, identify the pushing or compression behavior exhibited by the segments in the transmission path connection process, extend the path direction in sequence according to the motion transmission relationship between segments, cover all segment channels within the aperture control range, extract the directional guide chain formed in the continuous motion response process, clarify the motion input direction borne by the aperture-controlled area in the transmission path, and obtain the aperture control correction direction path; S3: Based on the action direction extended from the direction path in the aperture control correction direction path, extend the action path to the end of the sample rod, associate the action guide direction with the physical edge distribution position of the end part, identify the response area contacted by the action advancement trend, combine the arrangement position of the inductor detection device and the feedback signal in the response area, divide the corresponding action response trend in the four response areas, locate the contact response block on the aperture hole surface of the action path, compare the connection distribution position of the contact response block on the aperture assembly, extract the orientation path formed by each response block along the action path direction, and constitute the aperture hole offset compensation direction area. S4: Based on the orientation path in the aperture position offset compensation direction area, determine the starting position of the action guide at the end of the sample rod, start the micro-motion control device at the starting position of the action guide, and continuously advance the end component along the orientation path direction to keep the action direction of the end component consistent in the contact transmission area. Transmit the action along the advancement path to the core control part of the aperture, mark the linear advancement trajectory in the action transmission path, and generate the aperture position displacement trajectory. S5: Following the linear propulsion trajectory in the aperture position displacement trajectory, trace back the propulsion direction in the end action path, match the propulsion direction with the action direction of the transmission offset segment, analyze the correspondence between the extension range of the linear propulsion trajectory and the distribution area of ​​the offset segment, identify whether the linear propulsion path covers the transmission abnormal area, continue the linear propulsion path to the action termination position, identify the coverage range of the action termination position in the aperture switching area, determine whether the action end is connected to the response segment in the aperture switching area, extract the response feedback signal at the termination position, and include it in the end feedback sequence within the action path extension range to obtain the aperture control completion result.

[0020] The aperture control offset segment position number specifically includes the abnormal segment number, the associated control part number, and the transmission path positioning number. The aperture control correction direction path includes the axial action direction, the radial action direction, and the direction of the transmission resultant force. The aperture hole position offset compensation direction area specifically includes the hole position force quadrant, the compensation contact area, and the offset correction orientation area. The aperture hole position displacement trajectory includes the hole position movement start point, the hole position movement end point, and the hole position displacement range. The aperture control completion result specifically includes the hole position alignment status, the switching response status, and the control completion feedback signal.

[0021] Please see Figure 2 The steps to obtain S1 are as follows: S101: Acquire interference fringe images in each segment of the flexible corrugated pipe, identify the continuously distributed interference fringe lines in the image segment by segment according to the image acquisition order, extract texture direction information by combining the image boundary area, and establish the correspondence between each segment image and the image sequence number to generate segment image texture sequence. For a flexible bellows assembly installed in the optical path of an electron microscope, a 20-megapixel high-resolution CMOS industrial camera equipped with a telecentric lens was used. With an exposure time of 50 milliseconds, continuous images were taken of each segment of the bellows assembly distributed along its axial direction, acquiring grayscale interference fringe images with a resolution of 2048x2048 pixels. The first acquired image was defined as the sequence start point. Images were linearly numbered from 1 to N according to the order of physical acquisition. For each image numbered... For a single frame image, the grayscale value (dimensionless, range 0-255) of each pixel in the image matrix is ​​read. The grayscale threshold range is set to 120 to 180. Pixels within this grayscale threshold range are selected as candidate fringe points. The Sobel operator is used to calculate the grayscale gradient vector of each candidate point in its 3x3 neighborhood. Regions with gradient magnitudes greater than 25 are marked as the core skeleton of the interference fringes. The center line of the fringe is fitted along the extension direction of the skeleton using the least squares method. A rectangle with a width of 50 pixels inward from the four edges of the image is extracted as the boundary region. The angles between the center lines of all fringe points in the boundary region and the horizontal axis of the image are calculated. The arithmetic mean of all the angle values ​​in the boundary region is calculated to obtain the overall texture direction angle value of the segment image. For example, for the segment image numbered 5, the calculated texture direction angle is 35.5 degrees. This angle value is bound and stored with the image sequence number 5. A data set containing the number index and the corresponding angle value is constructed to generate the segment image texture sequence.

[0022] S102: Based on the segmental image texture sequence, observe the extension direction and distribution of texture lines in the image segment by segment, track the continuous direction change trajectory of texture lines in each segment, mark the segment positions where direction changes occur, and determine the corresponding transmission path location by combining the numbering information, and obtain the texture change segment identifier set. Call the N sets of angle values ​​stored in the segment image texture sequence and define variables. As the segment number currently being traversed, the initial setting is... It equals 1; Read the first in the sequence Texture orientation angle value of each segment With the Texture orientation angle value of each segment Perform a subtraction operation to obtain the angle difference between two adjacent segments. ,calculate The absolute value is used to obtain the deflection amount of adjacent textures. A baseline value of 8 degrees is set for the allowable angular deflection under normal physical deformation. This baseline value is determined through material mechanics experiments based on the elastic modulus and maximum allowable bending radius of the bellows material (such as 316L stainless steel). That is, the change in the included angle between adjacent texture segments should not exceed 8 degrees when no unexpected deformation occurs. The calculated deflection amount is then used to determine the deflection amount. A numerical comparison is made with 8 degrees. If the deflection is less than or equal to 8 degrees, the texture direction between the current segments is determined to be in a smooth transition state. If the deflection is greater than 8 degrees, for example, the angle of segment 12 is 40 degrees and the angle of segment 13 is 55 degrees, and the difference between the two is 15 degrees, which exceeds the reference value, then a sudden change in texture direction has occurred at segment 13. This position is marked as the node where the trajectory direction has changed, and the sequence number of the node with the change is recorded. If there is no mutation, continue traversing until the above difference calculation and threshold comparison operation is repeated for the remaining N-2 groups of adjacent data in the sequence. Summarize all sequence numbers that meet the mutation judgment conditions to form a set containing all abnormal numbers and obtain the texture mutation segment identifier set.

[0023] S103: Based on the texture mutation segment identifier set, call the spatial positioning relationship of the mutation segment in the aperture drive path, compare the control part number associated with each identifier segment in turn, establish the corresponding connection between the segment position and the control part, and obtain the aperture control offset segment position number. Read the abnormal sequence number of each segment in the texture mutation segment identifier set, and load the spatial mapping table of the aperture drive component pre-built by a 3D laser scanner. This mapping table records the axial coordinate distance of each physical segment of the bellows relative to the optical axis center in the unfolded or compressed state, and the specific control part of the aperture drive rod within this coordinate distance range. For the segment numbered in the identifier set... For the abruptly changed segment, look up its corresponding axial coordinate position in the mapping table. For example, the abrupt change segment numbered 13 corresponds to an axial position 35 mm from the aperture mounting flange surface, based on this axial coordinate position. Searching the CAD design data of the aperture drive control chain, locate the physical transmission component at the 35mm coordinate position. Identify whether this position corresponds to the screw drive pair connected to the aperture fine-tuning knob or the fulcrum of each lever stage. Obtain the unique part code of this physical transmission component in the equipment maintenance manual and assign the serial number of the abrupt segment. A one-to-one mapping relationship is established with the component code of the physical part. If there are multiple mutation numbers in the identifier set, the above coordinate query and part matching process is repeated to output a list of all segment positions associated with specific hardware codes, and obtain the aperture control offset segment position number.

[0024] Please see Figure 3 The steps to obtain S2 are as follows: S201: Use the aperture to control the position of the trajectory abrupt segment corresponding to the offset segment position number, extend forward and backward by a set number of segments along the transmission path, establish the correspondence between the arrangement number of each extended segment in the sequence and the image number, determine the complete segment connection range, and obtain the segment connection location combination. Using the aperture control offset segment position number corresponding to the trajectory abrupt change segment position, define the axial extension range parameter of the aperture drive path, and set the threshold for the number of segments to extend on one side. The threshold value is 5, which is determined by the attenuation distance of stress transmission in the bellows when subjected to the aperture adjustment torque (usually set to the wavelength). (Approximately 1.5 times the size, covering about 5 segments). Taking the mutation segment numbered 13 as the central reference point, forward subtraction is performed to obtain the starting segment number 8, and backward addition is performed to obtain the ending segment number 18. The original image indices of a total of 11 consecutive segments from number 8 to 18 are extracted. For each extracted index number, its corresponding three-dimensional spatial coordinates and physical connection attributes are retrieved from the digital twin simulation database of the aperture drive component. It is verified whether the segment corresponding to each number is in a valid mechanical connection state. Invalid numbers that are in a free end or unconstrained state are removed. The verified valid consecutive segment numbers are rearranged in ascending order from smallest to largest to construct a data subset containing both physical order and image index attributes. For each element in this subset, its relative position offset relative to the mutation center point is marked. For example, number 8 is offset by -5 relative to center 13, and number 18 is offset by +5 relative to center 13. All segment numbers with relative position markings are integrated into a continuous interval list to obtain the segment connection location combination. S202: Based on the combination of segment connection regions, call the texture extension direction in each segment image, compare the angle of the texture direction between adjacent segments in turn, determine the connection state between segments based on the angle orientation, distinguish the number of segments in continuous segments that exhibit pushing or compression behavior, and form a segment connection behavior classification distribution. Read the texture orientation angle value corresponding to each segment in the segment connection area combination, and set the angle deflection threshold range for determining the connection state. The positive deflection determination threshold is +2 degrees to +15 degrees, and the negative deflection determination threshold is -15 degrees to -2 degrees. This threshold is set based on the micro-deformation characteristics of the surface texture of the bellows under pressure (texture folding, angle decrease) and tension (texture unfolding, angle increase) states. Select two adjacent segment numbers in the combination in sequence. and ; Calculate the difference between the texture angles of the two. The calculated difference Compare the values ​​with the above threshold range, if If the deflection falls within the positive deflection threshold range, for example, from 35 degrees to 42 degrees, with a difference of +7 degrees, then the bellows at that adjacent connection is determined to be in a stretched and expanded pushing state (corresponding to positive transmission). If the deflection falls within the negative deflection threshold range, for example, a change from 42 degrees to 34 degrees with a difference of -8 degrees, then the bellows is determined to be in a compressed state (corresponding to reverse hindrance). If the absolute value of the difference is less than 2 degrees, it is determined to be in a static transmission state. The determination results of all adjacent segment pairs within the combination are counted, and the number of segment pairs in the shifting state is accumulated. Number of segments in a compressed state For example, within the range of numbers 8 to 18, 6 pairs of pushing connections and 4 pairs of compression connections are obtained. The specific state label (pushing, compression or stationary) of each connection position is bound and recorded with its corresponding segment number to generate a data table that maps the mechanical transmission state of each segment, thus forming a classification distribution of segment connection behavior.

[0025] S203: Based on the segment connection behavior classification distribution, according to the continuation direction of the pushing behavior and the segment numbering order of the transmission channel, extract the direction path formed by the continuous response action between the connecting segments, establish the continuous direction chain of action transmission according to the path direction, and obtain the aperture control correction direction path. Traverse the segmental connection behavior classification distribution data table, set the effectiveness judgment weights for motion transmission, assign a weight value of +1 to the pushing state, a weight value of -1 to the compression state, and a weight value of 0 to the stationary state. Starting from the initial segment number of the combination, accumulate the weight values ​​of adjacent segments one by one along the physical connection direction of the transmission channel, and calculate the cumulative transmission trend value. For example, the cumulative value of the aforementioned 6 shifting segments and 4 compression segments is +2. A positive value indicates that the overall motion tends to advance along the axial direction, while a negative value indicates a tendency to retract. Subsequences with a continuous and consistent arrangement of weight values ​​are identified; for example, segments 9 to 12 are all in a pushing state. This subsequence is extracted as the dominant path segment for motion transmission. Noisy segments with frequently alternating weight symbols are removed. A three-dimensional spline interpolation algorithm is used to connect the first and last nodes of all dominant path segments, constructing a virtual connection line containing only effective mechanical transmission segments. The tangent vector direction of this connection line in three-dimensional space is calculated and defined as the corrected aperture drive command transmission direction. Combined with the kinematic constraints of the aperture mechanical transmission, i.e., the maximum allowable deflection angle of the transmission rod is ±5 degrees, the vector direction is limited and corrected to ensure that the corrected path falls within the allowable active cone angle range of the mechanical structure. The corrected continuous vector coordinate sequence is output, yielding the aperture control correction direction path.

[0026] Please see Figure 4 The steps to obtain S3 are as follows: S301: Based on the motion direction extended from the direction path in the aperture control correction direction path, extend the motion direction to the end on the transmission path until the end area of ​​the sample rod, obtain the distribution boundary position of the end edge area in the transmission path direction, and associate the contact point of the motion direction at the end edge to form the contact distribution range of the motion end. Based on the movement direction extended from the directional path in the aperture control correction directional path, the corrected aperture drive vector is extended and mapped along the physical axis of the transmission rod using a three-dimensional geometric projection method, and the extension distance parameter is set. The transmission rod is 150 mm long, plus a 10 mm allowance, totaling 160 mm. This is continued until the vector intersects with the geometric solid model at the end of the sample rod. The coordinate range of the intersection area in the cylindrical coordinate system at the end of the sample rod is read, and an edge distribution judgment threshold is set. The annular region beyond 2.85 mm from the central axis, representing 95% of the sample rod radius (i.e., a radius of 3 mm), is defined as the edge region. The set of coordinates of the points where the extension vector lands as it passes through this edge region is identified, and the azimuth angles of these coordinates relative to the mechanical zero point of the sample rod are calculated. radial distance ; For example, the coordinates of a landing point are ( =2.9mm, =45 degrees), radial distance All landing points within the 2.85mm to 3.0mm range are marked as effective contact points. The coverage angle range of these effective contact points in the circumferential direction is calculated, for example, from 40 degrees to 50 degrees. The arc segment corresponding to this angle range is connected as the physical contact boundary. The pixel coordinate sequence of this boundary segment in the top view of the sample rod end and the corresponding physical spatial position are recorded. All the calculated effective contact points and their corresponding arc boundaries are integrated to construct a data set containing spatial position coordinates and direction vector attributes, forming the contact distribution range of the action end.

[0027] S302: Based on the contact distribution range of the action end, call the corresponding area number and real-time feedback signal of the inductive detection device deployed within the contact range, filter the areas where the feedback value shows response fluctuation in the direction of action propulsion, and divide the response tendency of the surrounding area according to the feedback intensity change rate to construct the action propulsion trend response distribution. Based on the contact distribution range at the end of the action, a miniature inductive detector array (such as the LDC1612, with an accuracy of up to 0.1 micrometers) deployed around the end of the sample rod is activated. This array consists of eight evenly distributed independent induction coils, each corresponding to a specific number. to Read the real-time voltage signal output by each induction coil. (Dimension: Volt), Set the signal reference noise threshold The voltage is 0.05 volts, representing the real-time voltage signal. and Compare and filter For detectors with voltages greater than 0.05 volts, calculate the rate of change of their voltage signals within the most recent 50 millisecond time window for the selected valid detectors: For example, number The detector voltage increases from 0.1 volts to 0.3 volts at a rate of 4 volts per second, setting the action response threshold. At 2 volts per second, the rate of change exceeds The detectors were marked as having a strong response region, those with a rate of change between 0.5 and 2 volts per second as having a weak response region, and those below 0.5 volts per second as having no response region. This was combined with the physical installation orientation of each detector, for example... Located due north, Located in the northeast direction, if and If all responses are strong, the motion propulsion trend is determined to be in the north-northeast direction. The distribution map of the response intensity of each detector in the polar coordinate system is plotted, and the tops of each response intensity vector are connected to form a closed polygonal outline. The geometric center of this outline is the resultant force center of the motion propulsion. The output is a dataset containing the response level of each region and the center direction, thus constructing the response distribution of the motion propulsion trend.

[0028] S303: Based on the response distribution of the motion propulsion trend, compare the spatial correspondence between the contact boundary number of each response area on the surface of the aperture hole and the assembly connection position in the aperture assembly, extract the connection continuity of the region chain according to the motion propulsion direction, and organize the path of each region chain direction to obtain the aperture hole offset compensation direction region. Based on the response distribution of the motion propulsion trend, the physical installation azimuth angles of the detectors corresponding to the regions marked as strong and weak responses are extracted. The CAD assembly model of the aperture assembly is called, and the surface contact area of ​​the aperture position in the same coordinate system is read and divided into grids, with each grid having a unique region number. The detector azimuth is mapped onto the aperture surface, and all grid numbers contained within that azimuth sector are identified, for example, the grid number corresponding to the north-northeast direction. to The process involves checking whether these meshes are within the sliding tolerance zone in the assembly model, removing invalid meshes that are in fixed constraints or dead points, and then connecting adjacent mesh nodes sequentially along the previously determined direction of the motion propulsion center for the selected valid meshes. The connection path is checked for breaks; if the distance between adjacent meshes exceeds 0.5 mm, it is considered a break, and only mesh chains with a continuity exceeding 5 mm are retained. The offset compensation vector of each mesh chain relative to the aperture center is calculated. This vector length is equal to 0.8 times the mesh chain length (compensation coefficient, an empirical value to prevent overshoot), and its direction is opposite to the motion propulsion direction. For example, if the propulsion direction is 45 degrees east of north, the compensation direction is 45 degrees west of south. All continuous mesh chains and their corresponding reverse compensation vectors are summarized to generate a list of spatial region coordinates guiding the micro-motion device to perform reverse correction, thus obtaining the aperture position offset compensation direction region.

[0029] Please see Figure 5 The steps to obtain S4 are as follows: S401: Based on the orientation path in the aperture offset compensation area, determine the starting position of the sample rod end action guidance, obtain the starting position coordinates and orientation path direction information, start the micro-motion control device for the starting position, record the device start time and initial propulsion direction, and establish the end action guidance starting position coordinates; Based on the orientation path within the aperture offset compensation region, extract the starting node coordinates of each grid chain in that region. Calculate the Euclidean distance between the starting node and the end effector of the piezoelectric ceramic micro-motion control device. The node with the smallest distance is selected as the optimal physical contact point and defined as the starting area for action guidance, for example, with coordinates (12.5mm, 45.0mm, 0.5mm). Read the azimuth path vector corresponding to the starting location. The vector is loaded into the motion controller register of the micro-motion control device, and a voltage pulse command is sent to the piezoelectric ceramic driver of the micro-motion control device. The initial voltage value is set to 10 volts to trigger the driver to generate a micrometer-level displacement. The timestamp of the first drive pulse is recorded. And at this time, the initial push rod orientation vector of the piezoelectric actuator ,verify and If the absolute value of the included angle deviation is less than 0.1 degrees, then the initial state parameter is locked, and the coordinates (12.5mm, 45.0mm, 0.5mm) and timestamp are set. and initial vector Package and store the data, and establish the starting coordinates of the end effector's action guidance area. S402: Based on the starting coordinates of the end-effector, the sample rod end component is continuously advanced along the orientation path direction. The direction change of the sample rod end component at each advancement position in the contact transmission area is monitored. If a direction deviation occurs during the advancement, the direction correction is performed to form a continuous advancement path record and obtain the end linear advancement path sequence. Based on the starting zone coordinates guided by the end effector, the micro-motion control device sets the step size: Discretized continuous propulsion is performed at the micrometer / step level. After each step, the actual coordinates of the end effector's current position are collected in real time using a laser triangulation displacement sensor. Calculate the actual displacement vector formed by the current position and the previous position: ; Will With the preset orientation path vector Perform direction cosine comparison and calculate the angle between the two vectors. Set the allowed directional offset threshold The threshold value is set based on the roughness tolerance of the aperture edge. If the calculated value is... If the deviation is greater than 0.2 degrees, for example, if the actual offset is 0.5 degrees, then the correction vector is calculated immediately. , The direction is perpendicular to And it points to the inside of the path, with an amplitude similar to... Proportional, driven by Superimpose a reverse compensation voltage to adjust the direction of the next step. If the angle is less than or equal to 0.2 degrees, the current direction of propulsion remains unchanged, and the "step-detect-judgment-correction" operation sequence is executed repeatedly until the cumulative propulsion distance reaches the preset stroke of 2 millimeters. Each step, corrected throughout the process, is then recorded. The coordinate points are stored in an array in chronological order to form a continuous advancement path record, resulting in a final linear advancement path sequence.

[0030] S403: Based on the end linear propulsion path sequence, the motion is transmitted along the propulsion path to the core control part of the aperture. Each propulsion position in the propulsion path is sequentially marked, the marked positions are connected to form a continuous linear trajectory, and the trajectory displacement distribution is sorted out to generate the aperture position displacement trajectory. Read the N three-dimensional coordinate point data stored in the end-effector linear propulsion path sequence, and based on the aperture mechanical transmission lever ratio. The coordinates of each end point in the sequence are mapped to the theoretical displacement coordinates of the core control part of the aperture (i.e., the center of the aperture). For example, a displacement of 0.5 micrometers at the end corresponds to a displacement of 2.5 micrometers in the aperture. For the converted aperture center coordinate sequence, a linear index label is assigned to each coordinate point in chronological order. ( to ), calculate the straight-line distance between two adjacent index coordinate points. ,like If the deviation is greater than 0.1 micrometers, linear interpolation is performed between the two points to supplement intermediate transition points and ensure the smoothness of the trajectory. All original coordinate points and interpolation points are connected into a continuous spatial curve. The projection trajectory of this curve on the plane perpendicular to the optical axis (XY plane) is calculated. The maximum displacement components of this projection trajectory in the X-axis and Y-axis directions are counted. For example, the maximum offset of the X-axis is 15 micrometers and the maximum offset of the Y-axis is 8 micrometers. These component data are correlated with the time axis to draw a displacement-time distribution chart and generate the aperture position displacement trajectory.

[0031] Please see Figure 6 The steps to obtain S5 are as follows: S501: Along the linear propulsion trajectory in the aperture position displacement trajectory, trace back the propulsion direction of the end action path, make alignment judgment based on the propulsion direction and the action direction of the transmission offset segment, record the segment numbers corresponding to the direction of consistency and direction deviation, organize the correspondence between the linear propulsion trajectory extension interval and the offset segment distribution area, and generate the propulsion direction matching interval. Along the linear advancement trajectory of the aperture position displacement trajectory, extract the end linear advancement vector sequence containing timestamp information. The sequence contains an ordered vector Simultaneously, retrieve the motion direction vector sequence of each segment on the transmission path generated in step S203. ,in Number the segments, map the time axis of the trajectory to the spatial axis of the transmission path, and establish a mapping function. ,in Representing distance coordinates along the transmission path, for each linear propulsion vector. Based on this mapping function, the spatial segment position corresponding to it on the transmission path is found. Calculate the linear propulsion vector at that location. The motion direction vector recorded by the segment itself dot product results Set the orientation alignment threshold ; This threshold corresponds to a maximum permissible included angle of approximately 25 degrees. If the calculated normalized dot product value is greater than 0.9, the motion transmission direction at that spatial location is determined to be consistent with the expected transmission direction and is marked as "Match". If the dot product value is less than or equal to 0.9, it is determined to be a directional deviation and is marked as "Mismatch". For example, in the region of segment numbers 10 to 15, the first 4 segments are determined to be Match, and segment number 14 is determined to be Mismatch. All marking results are statistically analyzed, and the sequence of segment numbers consecutively marked as Match is defined as the effective transmission segment. The segment numbers marked as Mismatch are defined as deviation segments (which require further monitoring). The start and end points of the linear propulsion trajectory on the time axis are... Corresponding to the segment numbering range on the transmission path For example, from segment 8 to segment 18, combined with the aforementioned consistency markers, a list of triplets containing segment numbers, spatial coordinates, and direction matching status is constructed to generate the propulsion direction matching interval. S502: Based on the propulsion direction matching interval, determine the coverage of the linear propulsion trajectory on the transmission path, detect whether the trajectory crosses the transmission abnormality marker area, continue the linear propulsion path to the action termination position, mark the termination position in the corresponding number range in the aperture switching area, and establish the termination position coverage range. Based on the propulsion direction matching interval, traverse the segment number list within it, and retrieve the texture mutation segment identifier set recorded in step S102. This identifier set contains segment numbers identified as transmission anomalies, such as number 13, and then check the propulsion direction matching interval. Does the mathematical model contain anomaly number 13? If so, further check if the status marker for number 13 in the matching interval is "Match". If the movement direction at the anomaly segment has been corrected and shows consistency, then the trajectory is considered to have effectively covered and repaired the anomaly area. If the anomaly segment is still marked as "Mismatch", then record that position as an unrepaired point and trigger an anomaly alarm. Continue along the physical connection direction of the transmission path, and advance the coordinates of the end of the linear trajectory. Projected onto the mechanical plan view of the aperture switching mechanism, the plan view is divided into different functional response sections, including a 10-micron aperture section, a 30-micron aperture section, and an obstruction reset section. Each section corresponds to a unique rectangular coordinate range. ,judge Which coordinate falls into? Within the range, for example, falling into the 30-micron aperture region corresponding to the coordinate range (x: 10-12mm, y: 20-22mm). ),calculate Relative to this Euclidean distance of the geometric center ,like If the radius is less than the allowable positioning tolerance radius of this section by 0.05 mm, then the operation termination position is confirmed to be accurately stopped within this section. The corresponding physical coordinate boundary information is associated and labeled to establish the termination location coverage area.

[0032] S503: Based on the coverage of the termination area, determine the connection status between the action end and the aperture switching area response segment, collect the inductor detection feedback signal at the termination position, and classify it into the end feedback sequence according to the extension order of the action path. Integrate the feedback sequence status information to obtain the aperture control completion result. Based on the coverage area of ​​the termination zone, confirm the current location of the action's end point. For the 30-micron aperture region, activate the inductive positioning sensor (non-contact) located below this section and read its output analog voltage signal. Set the voltage threshold to determine the position. Volt and Volt, if A voltage greater than 4.5 volts indicates that the aperture lever has completely entered the center of the metal sensing area, and the connection status is determined to be "reliable connection". A voltage between 2.5 volts and 4.5 volts is considered an "edge connection," while a voltage less than 2.5 volts is considered a "connection failure." The signal value at that moment is recorded. And connection status tags, while tracing back the real-time inductor feedback value sequence corresponding to all path points traversed during the entire action progression. ,examine Does the signal exhibit a sudden drop, such as a rapid decrease from 4.0 volts to 1.0 volts? This typically indicates a mechanical jump or slippage during transmission. If the sequence is smooth and ultimately... If the signal is displayed as "reliable connection" and there is no "Mismatch" record in the direction matching interval of S501, then the control process is deemed successful. The output is a summary data packet containing the final stopping position ID, the final signal strength value, and the status flags of the entire path, thus obtaining the result of the aperture control completion.

[0033] A high-precision aperture control system based on a flexible bellows, the system includes: The texture trajectory recognition module acquires interference fringe images of each segment of the flexible bellows, extracts the texture extension direction, tracks the texture movement trajectory, identifies the position of the segment with abrupt trajectory change, combines the segment spatial position, maps it to the control part, connects it to the component number, and obtains the position number of the aperture control offset segment. The transmission direction analysis module uses the position of trajectory abrupt segment in the position number of the offset segment controlled by the aperture to expand the segment connection range, identify the texture deflection relationship, analyze the pushing or compression behavior, construct the motion transmission chain, clarify the motion input direction, and obtain the aperture control correction direction path. The aperture position compensation determination module extends the action to the end of the sample rod according to the direction of the action extended from the direction path in the aperture control correction direction path, locates the contact response block, divides the response trend in combination with inductive feedback, extracts the path belonging to the path direction, and forms the aperture position offset compensation direction area. The micro-motion guidance execution module determines the starting position of the sample rod end action guidance according to the orientation path in the aperture position offset compensation direction area, starts the micro-motion control device and advances along the orientation path, so that the action is consistently transmitted to the core control part of the aperture, marks the linear advancement trajectory, and generates the aperture position displacement trajectory. The end feedback verification module traces the linear advancement trajectory along the aperture position displacement trajectory, backtracks the advancement direction in the end action path, matches the action direction of the offset segment, analyzes the relationship between the trajectory and the abnormal area, extends to the termination position, determines the coverage of the response segment, extracts the termination feedback signal, and obtains the aperture control completion result.

[0034] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A high-precision aperture control method based on a flexible bellows, characterized in that, Includes the following steps: S1: Obtain interference fringe images of each segment of the flexible bellows, extract the texture extension direction, track the texture movement trajectory, identify the location of the segment with abrupt trajectory changes, combine the segment spatial location, map it to the control part, connect it to the component number, and obtain the aperture control offset segment position number. S2: Using the position of the trajectory abrupt segment in the position number of the aperture control offset segment, expand the segment connection range, identify the texture deflection relationship, analyze the pushing or compression behavior, construct the action transmission chain, clarify the action input direction, and obtain the aperture control correction direction path; S3: Based on the action direction extended from the direction path in the aperture control correction direction path, extend the action to the end of the sample rod, locate the contact response block, combine the inductance feedback to divide the response trend, extract the belonging path in the path direction, and form the aperture position offset compensation direction area. S4: Based on the orientation path in the aperture position offset compensation direction area, determine the starting position of the sample rod end action guide, start the micro-motion control device and advance along the orientation path, so that the action is consistently transmitted to the core control part of the aperture, mark the linear advancement trajectory, and generate the aperture position displacement trajectory.

2. The high-precision aperture control method based on a flexible bellows according to claim 1, characterized in that: The aperture control offset segment position number is specifically the abnormal segment number, the associated control part number, and the transmission path positioning number. The aperture control correction direction path includes the axial action direction, the radial action direction, and the direction of the transmission resultant force. The aperture hole position offset compensation direction area is specifically the hole position force quadrant, the compensation contact area, and the offset correction orientation area. The aperture hole position displacement trajectory includes the hole position movement start point, the hole position movement end point, and the hole position displacement range.

3. The high-precision aperture control method based on a flexible bellows according to claim 1, characterized in that: The steps for obtaining S1 are as follows: S101: Acquire interference fringe images in each segment of the flexible corrugated pipe, identify the continuously distributed interference fringe lines in the image segment by segment according to the image acquisition order, extract texture direction information by combining the image boundary area, and establish the correspondence between each segment image and the image sequence number to generate segment image texture sequence. S102: Based on the segment image texture sequence, observe the extension direction and distribution of texture lines in the image segment by segment, track the continuous direction change trajectory of texture lines in each segment, mark the segment positions where direction changes occur, and determine the corresponding transmission path area by combining the numbering information to obtain the texture change segment identifier set. S103: Based on the texture mutation segment identifier set, call the spatial positioning relationship of the mutation segment in the aperture transmission path, compare the control part number associated with each identifier segment in turn, establish the corresponding connection between the segment position and the control part, and obtain the aperture control offset segment position number.

4. The high-precision aperture control method based on a flexible bellows according to claim 1, characterized in that: The steps for obtaining S2 are as follows: S201: Using the aperture control offset segment position number corresponding to the trajectory change segment position, extend forward and backward a set number of segments along the transmission path direction, establish the correspondence between the arrangement number of each extended segment in the sequence and the image number, determine the complete segment connection range, and obtain the segment connection location combination; S202: Based on the segment connection location combination, call the texture extension direction in each segment image, compare the angle deflection direction of the texture direction between adjacent segments in turn, determine the connection state between segments based on the angle orientation, distinguish the number of segments in continuous segments that exhibit pushing or compression behavior, and form a segment connection behavior classification distribution. S203: Based on the classification and distribution of the segment connection behavior, extract the direction path formed by the continuous response action between the connecting segments according to the continuation direction of the pushing behavior and the segment numbering order of the transmission channel, establish a continuous direction chain of action transmission according to the path direction, and obtain the aperture control correction direction path.

5. The high-precision aperture control method based on a flexible bellows according to claim 1, characterized in that: The steps for obtaining S3 are as follows: S301: Based on the action direction extended from the direction path in the aperture control correction direction path, extend the action direction to the end on the transmission path until the end area of ​​the sample rod, obtain the distribution boundary position of the end edge area in the transmission path direction, and associate the contact point of the action direction at the end edge to form the action end contact distribution range. S302: Based on the contact distribution range of the action end, call the corresponding area number and real-time feedback signal of the inductive detection device deployed within the contact range, filter the areas where the feedback value shows response fluctuation in the direction of action propulsion, and divide the response tendency of the surrounding area according to the feedback intensity change rate to construct the action propulsion trend response distribution. S303: Based on the action advancement trend response distribution, compare the spatial correspondence between the contact boundary number of each response region on the aperture hole surface and the assembly connection position in the aperture assembly, extract the connection continuity region chain according to the action advancement direction, and organize the path of each region chain direction to obtain the aperture hole offset compensation direction region.

6. The high-precision aperture control method based on a flexible bellows according to claim 1, characterized in that: The steps for obtaining S4 are as follows: S401: Based on the azimuth path in the aperture offset compensation direction area, determine the starting position of the sample rod end action guidance, obtain the starting position coordinates and azimuth path direction information, start the micro-motion control device for the starting position, record the device start time and initial propulsion direction, and establish the end action guidance starting position coordinates; S402: Based on the starting coordinates of the end action guide, the sample rod end component is continuously advanced along the orientation path direction. The direction change of the sample rod end component at each advancement position in the contact transmission area is monitored. The direction deviation that occurs during the advancement is judged and the direction correction is performed to form a continuous advancement path record and obtain the end linear advancement path sequence. S403: According to the end linear propulsion path sequence, the action is transmitted along the propulsion path to the core control part of the aperture, the propulsion positions in the propulsion path are sequentially marked, the marked positions are connected to form a continuous linear trajectory, and the trajectory displacement distribution is sorted out to generate the aperture position displacement trajectory.

7. The high-precision aperture control method based on a flexible bellows according to claim 1, characterized in that: The method further includes: S5: Along the linear advancement trajectory in the aperture position displacement trajectory, trace back the advancement direction in the end action path, match the action direction of the offset segment, analyze the relationship between the trajectory and the abnormal area, extend to the termination position, determine the coverage of the response segment, extract the termination feedback signal, and obtain the aperture control completion result. The results of the aperture control are specifically the aperture alignment status, switching response status, and control completion feedback signal.

8. The high-precision aperture control method based on a flexible bellows according to claim 7, characterized in that: The steps for obtaining S5 are as follows: S501: Along the linear propulsion trajectory in the displacement trajectory of the aperture, trace back the propulsion direction of the end action path, make alignment judgment based on the propulsion direction and the action direction of the transmission offset segment, record the segment numbers corresponding to the direction of consistency and direction deviation, organize the correspondence between the extension interval of the linear propulsion trajectory and the distribution area of ​​the offset segment, and generate the propulsion direction matching interval. S502: Based on the propulsion direction matching interval, determine the coverage range of the linear propulsion trajectory on the transmission path, detect whether the trajectory crosses the transmission abnormality mark area, continue the linear propulsion path to the action termination position, mark the termination position in the corresponding number range in the aperture switching area, and establish the termination position coverage range. S503: Based on the coverage range of the termination area, determine the connection status between the action end and the aperture switching area response segment, collect the inductor detection feedback signal at the termination position, and classify it into the end feedback sequence according to the extension order of the action path. Integrate the feedback sequence status information to obtain the aperture control completion result.

9. A rapid measurement system for coal moisture content based on convolutional neural networks, characterized in that, The system is used to execute the rapid coal moisture content measurement method based on convolutional neural networks as described in any one of claims 1-8, and the system comprises: The texture trajectory recognition module acquires interference fringe images of each segment of the flexible bellows, extracts the texture extension direction, tracks the texture movement trajectory, identifies the position of the segment with abrupt trajectory change, combines the segment spatial position, maps it to the control part, connects it to the component number, and obtains the position number of the aperture control offset segment. The transmission direction analysis module uses the trajectory abrupt segment position in the position number of the aperture control offset segment to expand the segment connection range, identify texture deflection relationship, analyze pushing or compression behavior, construct action transmission chain, clarify action input direction, and obtain aperture control correction direction path. The aperture position compensation determination module extends the action to the end of the sample rod according to the action direction of the direction path in the aperture control correction direction path, locates the contact response block, divides the response trend in combination with inductive feedback, extracts the belonging path in the path direction, and forms the aperture position offset compensation direction area. The micro-motion guidance execution module determines the starting position of the sample rod end action guidance according to the orientation path in the aperture position offset compensation direction area, starts the micro-motion control device and advances along the orientation path, so that the action is consistently transmitted to the core control part of the aperture, marks the linear advancement trajectory, and generates the aperture position displacement trajectory. The end feedback verification module traces the linear advancement trajectory along the aperture position displacement trajectory, backtracks the advancement direction in the end action path, matches the action direction of the offset segment, analyzes the relationship between the trajectory and the abnormal area, extends to the termination position, determines the coverage of the response segment, extracts the termination feedback signal, and obtains the aperture control completion result.

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