A packaging method and system for automobile wiring harness assembly

Abstract

The present invention provides a packing method and system for automobile wiring harness assemblies, comprising: real-time sampling of container environment video stream data, obtaining environment video frame images, and performing three-dimensional modeling according to the video frame images to generate an environment virtual scene; scanning the wiring harness assembly label in the video frame image to obtain the wiring harness assembly information, and according to the wiring harness assembly information, calling the packaging information in the pre-stored packaging box, and automatically matching the target packaging box information; based on the environment virtual scene, combined with the target packaging box location information, remote packing is performed. The present invention can improve the packing efficiency of automobile wiring harness assemblies and can realize long-distance automatic packing.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging, and in particular to a packaging method and system for automobile wiring harness assemblies. Background Art

[0002] At present, with the continuous expansion of factory scale and the continuous increase in the variety of automotive wiring harness products, the requirements for packaging are constantly updated and changed. After the automotive wiring harness assembly is completed, it must be packed. There are requirements for variety and quantity when packing. For example, there are clear regulations on what variety should be packed in a packaging box and how much quantity should be packed. Traditional packing currently mainly has two packing methods: manual and mechanical. The wiring harness assembly will not be inspected before packing, which will also cause many defective wiring harnesses to be packed. Mechanical packing can only support close-range packing, and long-distance automatic packing cannot be achieved. Manual packing visually inspects whether the variety of the label meets the requirements, records the quantity by manual recording, and visually inspects the marks made after the previous process inspection to determine whether it has been inspected. However, the above technology has the following shortcomings: 1. Manual recording and visual inspection with the naked eye are not only inefficient but also have a high probability of error. It is highly artificial and sporadic and difficult to control; 2. The preservation of manual records is easy to lose, and the records accumulated over a long period of time are not easy to find, and are not conducive to statistical analysis of data; 3. The labor intensity is high and the efficiency is low. Disadvantages of mechanical packing: 1. Packing can only be done at close range and is prone to errors; 2. Some links still require manual participation, resulting in low packing efficiency. Summary of the invention

[0003] The invention provides a packaging system and method for automobile wiring harness assemblies, which are used to realize the long-distance automatic packaging of automobile wiring harnesses.

[0004] A packaging method for an automobile wiring harness assembly, comprising:

[0005] Collect container environment video stream data in real time, obtain environment video frame images, and perform three-dimensional modeling based on the video frame images to generate an environment virtual scene;

[0006] Scanning the wiring harness assembly label in the video frame image to obtain wiring harness assembly information, and based on the wiring harness assembly information, retrieving the packaging information in the pre-stored packaging box to automatically match the target packaging box information;

[0007] Based on the virtual scene of the environment and in combination with the location information of the target packaging box, remote packing is performed.

[0008] In one embodiment of the present invention, the real-time collection of container environment video stream data, obtaining environment video frame images, and performing three-dimensional modeling according to the video frame images to generate an environment virtual scene includes:

[0009] Use a depth camera to shoot the packaging environment and obtain environmental video stream data;

[0010] Performing video segmentation processing on the environmental video stream data to obtain a number of video frame images;

[0011] Performing a preprocessing operation on the plurality of video frame images to obtain an enhanced image;

[0012] Determining image parameters according to the enhanced image, and performing three-dimensional real scene modeling according to the image parameters to generate an environmental virtual scene;

[0013] The data content of the depth camera is received in real time, and it is determined whether the image parameters have changed. When the image parameters have changed, a remodeling process is performed according to the environment parameters, and the environment virtual scene is updated.

[0014] In one embodiment of the present invention, scanning the wiring harness assembly label in the video frame image to obtain the wiring harness assembly information, and retrieving the packaging information in the pre-stored packaging box according to the wiring harness assembly information, and automatically matching the target packaging box information includes:

[0015] Based on the video frame image, determining whether the video frame image contains repeated video frame images,

[0016] If included, delete the duplicate video frame images to generate a first video frame image database;

[0017] Based on the first video frame image database, detecting whether the database contains automobile wiring harness assembly label information,

[0018] When the first video frame image database contains automobile wiring harness label information, the label information is scanned and processed to obtain basic data information of the automobile wiring harness assembly; wherein,

[0019] The basic data information includes: wiring harness assembly color information, wiring harness assembly type information, wiring harness assembly positioning information; wherein,

[0020] The wiring harness assembly type information includes: instrument panel wiring harness assembly, engine compartment wiring harness assembly, chassis wiring harness assembly;

[0021] Detecting and analyzing the basic data information of the automobile wiring harness assembly, determining whether the automobile wiring harness assembly meets the use standards, and determining the determination result;

[0022] Based on the judgment result, when it is determined that the detection result meets the use standard, the pre-stored packaging box database is retrieved to search for the target packaging box information; wherein,

[0023] The target packaging box information includes: target packaging box sequence information, target packaging box position information, and target packaging box volume information.

[0024] In an embodiment of the present invention, the remote packing based on the virtual environment scene and the target packaging box location information includes:

[0025] Automatically generate a set of transport paths based on the target packaging box location information and assembly positioning information;

[0026] According to the transport path set, screening the transport paths in the transport path set to determine the optimal transport path;

[0027] According to the optimal transport path, the automobile wiring harness assembly is transported over a long distance;

[0028] Real-time tracking and recording of packing status information, including:

[0029] The status information includes: information about wire harnesses that have been packed, information about wire harnesses that are to be packed, and information about abnormal wire harnesses;

[0030] Monitor the status data of the wiring harness assembly during the packing process in real time, and compare the status data with a preset threshold to determine whether there is abnormal data in the status data.

[0031] When there is abnormal data in the status data, the abnormal data is determined, an alarm level is divided, and a corresponding alarm mode is activated according to the alarm level.

[0032] In one embodiment of the present invention, the preprocessing operation on the plurality of video frame images to obtain an enhanced image comprises:

[0033] According to the first video frame image database, grayscale processing is performed on the video frame images in the database to obtain a primary video frame image;

[0034] Based on the primary video frame image, performing enhancement processing on the primary video frame image to obtain a secondary video frame image;

[0035] Detecting the image noise of the secondary video frame image, and dividing the noise level according to the image noise, wherein:

[0036] The noise levels include: first-level noise, second-level noise, and third-level noise.

[0037] When the noise level is level 2 noise or level 3 noise, performing denoising processing on the level 2 video frame image to obtain a level 3 video frame image;

[0038] The three-level video frame image is segmented to determine image features and obtain a four-level video frame image.

[0039] In one embodiment of the present invention, the step of determining image parameters according to the enhanced image, and performing three-dimensional real scene modeling according to the image parameters to generate an environmental virtual scene includes:

[0040] According to the four-level video frame image, environmental data information is determined, wherein:

[0041] The environmental data information includes: illumination data information, voxel data information, direction data information, and coordinate data information;

[0042] Compare the environmental data information with a preset threshold to determine whether the environmental data information contains abnormal data information,

[0043] When the environmental data information includes abnormal data information, the abnormal data information is discarded to determine valid environmental data;

[0044] Determine environmental characteristics according to the effective environmental data, and analyze the environmental characteristics to obtain characteristic analysis results;

[0045] Based on the feature analysis results, the environment is reconstructed in three dimensions to obtain a virtual scene of the packing environment.

[0046] In one embodiment of the present invention: the basic data information of the automobile wiring harness assembly is detected and analyzed to determine whether the automobile wiring harness assembly meets the use standard and determine the judgment result; including:

[0047] Detect whether the color of the wiring harness in the automobile wiring harness assembly is consistent with the hole color of the corresponding terminal. If they are consistent, the first detection result is set to 1; if they are inconsistent, the first detection result is set to 0;

[0048] Detecting whether the number of wiring harnesses in the automobile wiring harness assembly is consistent with the preset number of wiring harnesses, if consistent, the second detection result is set to 1, if inconsistent, the second detection result is set to 0;

[0049] Detecting whether the wiring harness in the automobile wiring harness assembly has connectivity, if the wires have connectivity, the third detection result is set to 1, if the wires do not have connectivity, the third detection result is set to 0;

[0050] According to the first test result, the second test result and the third test result, it is judged whether the automobile wiring harness assembly meets the use standard.

[0051] When the first detection result, the second detection result, and the third detection result are all 1, it is determined that the wiring harness assembly meets the usage standard.

[0052] In one embodiment of the present invention, the long-distance transportation of the automobile wiring harness assembly according to the optimal transportation path includes:

[0053] Using a laser distance measurement method to measure the real-time distance between the automobile wiring harness assembly and surrounding objects in real time;

[0054] The real-time distance is compared with a preset threshold value, and if the distance is less than the preset threshold value, it is determined to be a dangerous distance;

[0055] When the distance between the automobile wiring harness and surrounding objects is a dangerous distance, an emergency obstacle avoidance mode is activated.

[0056] In one embodiment of the present invention, the step of detecting and analyzing the basic data information of the automobile wiring harness assembly, determining whether the automobile wiring harness assembly meets the use standard, and determining the judgment result further includes the following execution steps:

[0057] Step 1: Obtain the type information of the wiring harness assembly, and classify the wiring harness assembly according to the type information to determine the classification result;

[0058] Step 2: According to the classification result of the wiring harness assembly, the classification result is associated with the target packaging information;

[0059] Step 3: According to the associated marking results, the wiring harness assemblies with the same classification results are searched, and the wiring harness assemblies with the same classification results are integrated, and the integrated wiring harness assemblies are transported uniformly.

[0060] A packaging system for an automobile wiring harness assembly, comprising:

[0061] Information acquisition module: used to collect container environment video stream data in real time, obtain environment video frame images, and perform three-dimensional modeling based on the video frame images to generate an environmental virtual scene;

[0062] Detection and analysis module: used for scanning the wiring harness assembly label in the video frame image, obtaining the wiring harness assembly information, and retrieving the packaging information in the pre-stored packaging box according to the wiring harness assembly information, and automatically matching the target packaging box information;

[0063] The packing execution module is used to perform remote packing based on the virtual scene of the environment and the location information of the target packaging box.

[0064] The beneficial effects of the present invention are as follows: the present invention adopts an intelligent method to realize automatic packing of automobile wiring harnesses, saves labor costs, reduces labor intensity, improves work efficiency, and can improve the visual display effect and operation experience function of the packing system during the automatic packing process. In addition, the quality inspection of the wiring harness can be realized, and the machine vision is used instead of the human eye to accurately detect and identify the wiring harness, and the packing data is dynamically recorded to improve the packing efficiency and reduce the error rate.

[0065] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0066] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0068] Figure 1 This is a schematic structural diagram of a packaging system for an automobile wiring harness assembly according to an embodiment of the present invention;

[0069] Figure 2 The present invention is a flowchart of a packing method for an automobile wiring harness assembly according to an embodiment of the present invention. DETAILED DESCRIPTION

[0070] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0071] Embodiment 1:

[0072] As attached Figure 1 As shown, the present invention includes a packaging method for an automobile wiring harness assembly, comprising:

[0073] Collect container environment video stream data in real time, obtain environment video frame images, and perform three-dimensional modeling based on the video frame images to generate an environment virtual scene;

[0074] Scanning the wiring harness assembly label in the video frame image to obtain wiring harness assembly information, and based on the wiring harness assembly information, retrieving the packaging information in the pre-stored packaging box to automatically match the target packaging box information;

[0075] Based on the virtual scene of the environment and in combination with the location information of the target packaging box, remote packing is performed.

[0076] The working principle of the above technical solution is as follows: the prior art in the present invention only uses a scanner to scan the label of the harness assembly, and does not involve remote packing when executing the packing. The present technical solution is designed to have three parts: information collection, information detection and analysis, and remote packing, which are: in information collection, the depth camera is used to collect the video frame data of the container environment, and the video frame data is analyzed to perform three-dimensional reconstruction of the packing environment. The purpose of three-dimensional reconstruction is to achieve the establishment of a virtual scene.

[0077] Obtain the 3D virtual scene corresponding to the packing environment. The detection and analysis is mainly responsible for scanning the labels of the automobile wiring harnesses, obtaining the composition data, real-time status and location information of the labels. The system automatically matches the specific location of the target packaging box. According to the positioning information of the wiring harnesses and the location of the target packaging box, the system automatically plans the packaging path and matches the optimal packaging path.

[0078] The beneficial effects of the above technical solution are as follows: the present invention gets rid of the shortcomings of manual packing in the past, adopts automated technology to pack automotive wiring harnesses, and the system operates in modules, which is beneficial to improving the operating efficiency of the system and reducing the error rate of the system. In combination with the location information of the wiring harness and the specific location of the target packaging box, the system automatically plans the packing path, which is beneficial to obtaining the optimal packing path, improving the efficiency of automatic packing, reducing labor costs, and tracking the packing status in real time to reduce the error rate of packing.

[0079] Embodiment 2:

[0080] In one embodiment of the present invention, the real-time collection of container environment video stream data, obtaining environment video frame images, and performing three-dimensional modeling according to the video frame images to generate an environment virtual scene includes:

[0081] Use a depth camera to shoot the packaging environment and obtain environmental video stream data;

[0082] Performing video segmentation processing on the environmental video stream data to obtain a number of video frame images;

[0083] Performing a preprocessing operation on the plurality of video frame images to obtain an enhanced image;

[0084] Determining image parameters according to the enhanced image, and performing three-dimensional real scene modeling according to the image parameters to generate an environmental virtual scene;

[0085] The data content of the depth camera is received in real time, and it is determined whether the image parameters have changed. When the image parameters have changed, a remodeling process is performed according to the environment parameters, and the environment virtual scene is updated.

[0086] The working principle of the above technical scheme is as follows: in the prior art of the present invention, only the label information of the wiring harness assembly and the packaging box is scanned by an electronic scanner when data is collected. In the technical scheme of the present invention, when executing information collection, the process of information collection includes video acquisition, video segmentation, image preprocessing, three-dimensional modeling and three-dimensional modeling model update. First, a depth camera is used in the video acquisition unit to intelligently detect the three-dimensional environment of the packaging, and dynamic analysis is performed based on the environmental data to obtain a number of video frame images and image parameters, so as to perform three-dimensional real scene modeling. In the model update unit, according to the real-time video screen received by the depth camera, when the video data changes significantly, the secondary modeling process is started to update the virtual environment scene in real time.

[0087] The beneficial effects of the above technical solution are as follows: in the present invention, a depth camera is used to collect packing environment information. Compared with traditional camera equipment, the depth camera can realize depth measurement and can more sensitively perceive changes in the surrounding environment. Therefore, the environmental information obtained by the depth camera is more comprehensive, which is conducive to obtaining virtual scenes with higher authenticity and faster speed when performing three-dimensional modeling. In addition, image enhancement of the video frame image before three-dimensional modeling is conducive to highlighting feature points in the environment and improving the efficiency and quality of three-dimensional modeling.

[0088] Embodiment 3:

[0089] In one embodiment of the present invention, scanning the wiring harness assembly label in the video frame image to obtain the wiring harness assembly information, and retrieving the packaging information in the pre-stored packaging box according to the wiring harness assembly information, and automatically matching the target packaging box information includes:

[0090] Based on the video frame image, determining whether the video frame image contains repeated video frame images,

[0091] If included, delete the duplicate video frame images to generate a first video frame image database;

[0092] Based on the first video frame image database, detecting whether the database contains automobile wiring harness assembly label information,

[0093] When the first video frame image database contains automobile wiring harness label information, the label information is scanned and processed to obtain basic data information of the automobile wiring harness assembly; wherein,

[0094] The basic data information includes: wiring harness assembly color information, wiring harness assembly type information, wiring harness assembly positioning information; wherein,

[0095] The wiring harness assembly type information includes: instrument panel wiring harness assembly, engine compartment wiring harness assembly, chassis wiring harness assembly;

[0096] Detecting and analyzing the basic data information of the automobile wiring harness assembly, determining whether the automobile wiring harness assembly meets the use standards, and determining the determination result;

[0097] Based on the judgment result, when it is determined that the detection result meets the use standard, the pre-stored packaging box database is retrieved to search for the target packaging box information; wherein,

[0098] The target packaging box information includes: target packaging box sequence information, target packaging box position information, and target packaging box volume information.

[0099] The working principle of the above technical scheme is as follows: the prior art of the present invention does not involve the detection of the quality of the wiring harness assembly during the packing process. The technical scheme of the present invention includes the detection of the quality of the wiring harness assembly, and the acquired data is analyzed through the detection and analysis module, and the target packaging box information is automatically matched. In the detection and analysis process, it is mainly divided into several processes such as information extraction, label recognition, wiring harness detection, and target matching. First, in the information extraction step, valid video frame images are extracted from a number of video frame images, which is conducive to reducing invalid workload and saving working time; in the label recognition process, it is mainly responsible for scanning the video frames containing wiring harness labels in the video frame images to obtain basic wiring harness information, and then compare the acquired wiring harness basic information with the actually detected wiring harness information to obtain abnormal wiring harness data, discard the faulty automotive wiring harness, and finally automatically match the target packaging box data according to the valid wiring harness data.

[0100] The beneficial effects of the above technical solution are as follows: the present invention adopts a depth camera to directly scan the image containing the wiring harness label in the video frame, without the need for additional scanning equipment, thereby increasing the efficiency of label scanning; in the wiring harness detection unit, the quality of the wiring harness is detected, which is beneficial to include invalid automobile wiring harnesses after packing, thereby increasing the failure probability of the entire vehicle; finally, in the target matching unit, the target packaging box is automatically matched according to the basic information of the automobile wiring harness, which is beneficial to get rid of the error rate in the manual packing process and improve the packing efficiency and accuracy.

[0101] Embodiment 4:

[0102] In an embodiment of the present invention, the remote packing based on the virtual environment scene and the target packaging box location information includes:

[0103] Automatically generate a set of transport paths based on the target packaging box location information and assembly positioning information;

[0104] According to the transport path set, screening the transport paths in the transport path set to determine the optimal transport path;

[0105] According to the optimal transport path, the automobile wiring harness assembly is transported over a long distance;

[0106] Real-time tracking and recording of packing status information, including:

[0107] The status information includes: information about wire harnesses that have been packed, information about wire harnesses that are to be packed, and information about abnormal wire harnesses;

[0108] Monitor the status data of the wiring harness assembly during the packing process in real time, and compare the status data with a preset threshold to determine whether there is abnormal data in the status data.

[0109] When there is abnormal data in the status data, the abnormal data is determined, an alarm level is divided, and a corresponding alarm mode is activated according to the alarm level.

[0110] The working principle of the above technical solution is as follows: the prior art of the present invention does not involve the remote transportation of the wiring harness assembly. In the technical solution of the present invention, when packing, the remote transportation path is automatically matched, and the alarm for abnormal data and the real-time recording of data are satisfied. In the path generation unit, all packing paths are obtained according to the position information of the automobile wiring harness and the automatically matched target packaging box position information, and the optimal packing path is automatically matched according to the preset evaluation criteria. In the whole process, the data is recorded, saved and updated in real time, and the data is compared with the preset threshold to obtain abnormal data, and the abnormal data is analyzed to start the alarm mode;

[0111] The beneficial effects of the above technical solution are as follows: the present invention obtains all path matching information in the path generation unit, and dynamically determines the optimal packing path during path planning, which is beneficial to saving packing time and speed and reducing wasted time. When recording real-time data, the database is likely to contain abnormal data, which may lead to the possibility of misleading when performing data analysis. Therefore, comparing the data with the basic threshold and preliminarily eliminating abnormal data is beneficial to the correctness of the data analysis process, and ultimately improves the packing efficiency and accuracy.

[0112] Embodiment 5:

[0113] In one embodiment of the present invention, the preprocessing operation on the plurality of video frame images to obtain an enhanced image comprises:

[0114] According to the first video frame image database, grayscale processing is performed on the video frame images in the database to obtain a primary video frame image;

[0115] Based on the primary video frame image, performing enhancement processing on the primary video frame image to obtain a secondary video frame image;

[0116] Detecting the image noise of the secondary video frame image, and dividing the noise level according to the image noise, wherein:

[0117] The noise levels include: first-level noise, second-level noise, and third-level noise.

[0118] When the noise level is level 2 noise or level 3 noise, performing denoising processing on the level 2 video frame image to obtain a level 3 video frame image;

[0119] The three-level video frame image is segmented to determine image features and obtain a four-level video frame image.

[0120] The working principle of the above technical solution is as follows: the prior art in the present invention only uses an electronic scanner to scan the label information of the wiring harness assembly and the packaging box, and the technical solution of the present invention uses a depth camera to collect image information and pre-process the image, wherein in the image grayscale subunit, the effective video frame image is grayscale processed and enhanced, and the enhanced image is filtered, and finally the obtained image is segmented to highlight the effective part;

[0121] The beneficial effects of the above technical solution are as follows: the present invention preprocesses the video frame images, which is conducive to highlighting the effective features in the image, so that the speed and efficiency of real-scene modeling and reconstruction based on the video frame images are improved, thereby making the obtained environmental scene more realistic, and ultimately helping to speed up the execution efficiency of packaging.

[0122] The process of image enhancement also includes the following steps, which are mainly for noise reduction:

[0123] In the present invention, the video frame images captured by the depth camera are all color images, and the color information of the image is represented by components R, G, and B respectively.

[0124] First, the grayscale of the image is processed through these three color components to determine the grayscale value: grayscale processing is performed on the video frame image. In a video frame image, assuming that (x, y) corresponds to the pixel coordinates in the image, f(x, y) represents the grayscale value corresponding to the video frame image.

[0125] f(x,y)=αR(x,y)+βG(x,y)+γB(x,y)

[0126] In this embodiment, a weighted average method is used to calculate the grayscale value of the video frame image, wherein α, β, and γ represent weighting coefficients respectively; f(x, y) represents the grayscale value, and (x, y) represents the pixel coordinates of the image.

[0127] Secondly, during enhancement, since the packaging environment of the automotive wiring harness assembly is generally indoors and mainly relies on lighting, the resolution of the collected image will not be high. Therefore, it is necessary to enhance the image to highlight the image features. The calculation formula for image enhancement is as follows:

[0128] Out 1 (x,y)=C·f(x,y)

[0129]

[0130] Among them, δ 1 , δ 2 To adjust the coefficient, the position and shape of the video frame image are dynamically adjusted respectively. Out(x,y) represents the output image after the gray value image f(x,y) is converted by the conversion function C; C represents the conversion function. In the process of image enhancement, we first determine the conversion function, that is, the enhancement coefficient. Once the enhancement coefficient is determined, the correct gray value of the enhanced image can be calculated. The gray value of the enhanced image can also make the noise in the image clearer.

[0131] Step 3: After image enhancement, the video frame image may still have image noise. Therefore, it is necessary to perform image denoising on the image. The calculation process corresponding to the image denoising is as follows:

[0132]

[0133] Among them, τ represents the mean square error of the Gaussian function. In order to prevent the image from being overly blurred, τ is generally set to 1 to 10. 2 (x, y) represents the output image after image denoising. 1 (x, y) is the output image after image enhancement. In the above formula, the pixels in the enhanced video frame image are weighted averaged and the adjustment coefficient δ is used. 2 Adjust the shape of the image curve, and finally realize the denoising of the video frame image;

[0134] The beneficial effects of the above technical solution are as follows: after the collected video frame image is subjected to grayscale transformation processing, the color image containing color information is converted into a grayscale image containing only brightness information, the amount of data is significantly reduced, and the image is enhanced and denoised, which is beneficial to improving the efficiency of image processing, enhancing the image to increase the resolution, highlighting the feature information, and improving the authenticity and effect of three-dimensional modeling.

[0135] Embodiment 6:

[0136] In one embodiment of the present invention, the step of determining image parameters according to the enhanced image, and performing three-dimensional real scene modeling according to the image parameters to generate an environmental virtual scene includes:

[0137] According to the four-level video frame image, environmental data information is determined, wherein:

[0138] The environmental data information includes: illumination data information, voxel data information, direction data information, and coordinate data information;

[0139] Compare the environmental data information with a preset threshold to determine whether the environmental data information contains abnormal data information,

[0140] When the environmental data information includes abnormal data information, the abnormal data information is discarded to determine valid environmental data;

[0141] Determine environmental characteristics according to the effective environmental data, and analyze the environmental characteristics to obtain characteristic analysis results;

[0142] Based on the feature analysis results, the environment is reconstructed in three dimensions to obtain a virtual scene of the packing environment.

[0143] The working principle of the above technical solution is as follows: in the prior art of the present invention, only a scanner is used to obtain label information of the wiring harness assembly and the packaging box, and specific steps still require manual participation. In the technical solution of the present invention, the video frame image obtained by the depth camera is analyzed, image parameters are obtained, and three-dimensional modeling is performed. In the process of three-dimensional modeling of the packaging environment, the video frame image that has undergone data preprocessing is first analyzed in data acquisition to obtain image parameter information, including: illumination data information, voxel data information, direction data information, and coordinate data information. In data processing, the obtained parameter information is processed and analyzed, compared with a preset basic threshold, abnormal data is obtained, and valid environmental data is determined. Then, feature analysis is performed on the valid environmental data to obtain environmental features. Finally, according to the feature analysis results of the environment, virtual scene information of the packaging environment is obtained through real-scene modeling.

[0144] The beneficial effects of the above technical solution are as follows: the present invention obtains environmental data information based on the preprocessed image, compares the environmental data information with a preset threshold, and discards abnormal data information, which is beneficial to reducing the adverse effects of the acquired abnormal data on three-dimensional reconstruction, and realizes three-dimensional reconstruction through the analysis results of feature analysis, which is beneficial to improving the efficiency of three-dimensional reconstruction of the packaging environment and the authenticity of the virtual scene.

[0145] Embodiment 7:

[0146] In one embodiment of the present invention: the basic data information of the automobile wiring harness assembly is detected and analyzed to determine whether the automobile wiring harness assembly meets the use standard and determine the judgment result; including:

[0147] Detect whether the color of the wiring harness in the automobile wiring harness assembly is consistent with the hole color of the corresponding terminal. If they are consistent, the first detection result is set to 1; if they are inconsistent, the first detection result is set to 0;

[0148] Detecting whether the number of wiring harnesses in the automobile wiring harness assembly is consistent with the preset number of wiring harnesses, if consistent, the second detection result is set to 1, if inconsistent, the second detection result is set to 0;

[0149] Detecting whether the wiring harness in the automobile wiring harness assembly has connectivity, if the wires have connectivity, the third detection result is set to 1, if the wires do not have connectivity, the third detection result is set to 0;

[0150] According to the first test result, the second test result and the third test result, it is judged whether the automobile wiring harness assembly meets the use standard.

[0151] When the first detection result, the second detection result, and the third detection result are all 1, it is determined that the wiring harness assembly meets the usage standard.

[0152] The working principle of the above technical solution is as follows: the prior art of the present invention does not involve the detection of the quality of the wiring harness assembly. In the technical solution of the present invention, the wiring harness detection is added during the packing process. By performing different levels of detection on the wiring harness, it is judged whether the automotive wiring harness meets the standards from the color composition, quantity, and connectivity of the wires. When the color, quantity, and connectivity between the wires meet the requirements, it is determined that the wiring harness has passed the detection. If one requirement is not met, the packing is suspended and other wiring harnesses are replaced.

[0153] The beneficial effect of the above technical solution is: the present invention adds wire harness detection during the packing process, which is beneficial to increase the number of effective wire harnesses in the final packing result, reduce the return rate caused by wire harness quality problems, and ultimately increase the efficiency of effective packing.

[0154] In a specific embodiment, the color composition of the automobile wiring harness assembly is detected to determine whether the color of the wiring harness in the wiring harness assembly is consistent with the color of the corresponding terminal vacancy: specifically, the following steps are included:

[0155] Step 1: The collected video frame images are composed of images of different colors. First, the video frame images are represented by a two-dimensional matrix. The coordinates of the center point of the matrix correspond to (a, b), the corresponding pixel value is f(a, b), the pixel point set is represented by P, and the number of pixels is m. The output result is obtained by filtering the pixel value f(a, b) at (a, b):

[0156]

[0157] Among them, (x, y) represents any coordinate value in the pixel set, that is, (x, y)∈P,

[0158] For example, when the point set P is a set of 8 domain points, the pixel value output at point (a, b) is:

[0159]

[0160] Step 2: Perform similarity detection between the pixel value output of the video frame image and the template pixel value. The corresponding calculation process is:

[0161]

[0162] In the above formula, (x, y)∈P, T(x, y) is the template pixel value,

[0163] When S(a,b)=0, it means that the pixel value output of the video frame image is the same as the template pixel value. When S(a,b) is not 0, it means that there is an error between the pixel value output of the video frame image and the template pixel value.

[0164] Step 3: Determine based on the error value whether the currently calculated color error affects the color matching.

[0165] S(a,b)≤T

[0166] Wherein, T is a preset color difference threshold, S(a, b) is the error between the pixel value of the video frame image and the pixel value of the template, and when the error value S(a, b) is less than the threshold, it is determined that the first detection result value of the current wiring harness assembly is output as 1;

[0167] The beneficial effect of the above technical solution is as follows: in the present invention, by performing color recognition detection on the wiring harness in the automotive wiring harness assembly to be packed, it is preliminarily determined whether the color of the wiring harness is consistent with the color of the hole position of the corresponding terminal, which is conducive to detecting problems with the wiring harness assembly in advance and improving the effectiveness of the packaging of the wiring harness assembly.

[0168] Embodiment 8:

[0169] In one embodiment of the present invention, the long-distance transportation of the automobile wiring harness assembly according to the optimal transportation path includes:

[0170] Using a laser distance measurement method to measure the real-time distance between the automobile wiring harness assembly and surrounding objects in real time;

[0171] The real-time distance is compared with a preset threshold value, and if the distance is less than the preset threshold value, it is determined to be a dangerous distance;

[0172] When the distance between the automobile wiring harness and surrounding objects is a dangerous distance, an emergency obstacle avoidance mode is activated.

[0173] The working principle of the above technical solution is as follows: the prior art of the present invention does not involve the remote delivery of the automobile wiring harness assembly. The technical solution of the present invention can achieve the remote delivery of the wiring harness assembly by matching the optimal path. First, in the laser ranging process, the laser ranging function in the depth camera is mainly used to detect the distance between the object and the object during the delivery path. When the distance is less than the safe distance, the safety alarm is activated. When the safety alarm function is activated, the emergency obstacle avoidance mode is activated;

[0174] The beneficial effects of the above technical solution are as follows: the present invention determines the safe distance by detecting the distance, which is helpful to determine whether there are obstacles during the packing process, and to perform emergency obstacle avoidance when obstacles appear, which is helpful to improve the safety of the packing process and reduce the danger of the packing process.

[0175] Embodiment 9:

[0176] In one embodiment of the present invention, the step of detecting and analyzing the basic data information of the automobile wiring harness assembly, determining whether the automobile wiring harness assembly meets the use standard, and determining the judgment result further includes the following execution steps:

[0177] Step 1: Obtain the type information of the wiring harness assembly, and classify the wiring harness assembly according to the type information to determine the classification result;

[0178] Step 2: According to the classification result of the wiring harness assembly, the classification result is associated with the target packaging information;

[0179] Step 3: According to the associated marking results, the wiring harness assemblies with the same classification results are searched, and the wiring harness assemblies with the same classification results are integrated, and the integrated wiring harness assemblies are transported uniformly.

[0180] The working principle of the above technical solution is as follows: the prior art of the present invention does not involve pre-classifying the wiring harness assemblies in advance and then transporting the wiring harness assemblies with the same classification results in a unified manner. The technical solution of the present invention is also used to classify and dispose of the wiring harness assemblies during the process of wiring harness detection, and associate and mark the classification results with the target packaging information, and integrate the assemblies with the same classification results for unified transportation;

[0181] The beneficial effect of the above technical solution is that the present invention classifies the wiring harness assemblies and then packs the classified wiring harness assemblies over a long distance, thereby saving packing time and improving the transportation efficiency and speed during the packing process.

[0182] Embodiment 10:

[0183] The embodiment of the present invention provides a packaging system for an automobile wiring harness assembly, as shown in the attached Figure 2 As shown, including:

[0184] Information acquisition module: used to collect container environment video stream data in real time, obtain environment video frame images, and perform three-dimensional modeling based on the video frame images to generate an environmental virtual scene;

[0185] Detection and analysis module: used for scanning the wiring harness assembly label in the video frame image, obtaining the wiring harness assembly information, and retrieving the packaging information in the pre-stored packaging box according to the wiring harness assembly information, and automatically matching the target packaging box information;

[0186] A packing execution module: used for performing remote packing based on the virtual scene of the environment and the location information of the target packaging box;

[0187] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A packaging method for an automobile wiring harness assembly, characterized in that: include: Collect container environment video stream data in real time, obtain environment video frame images, and perform three-dimensional modeling based on the video frame images to generate an environment virtual scene; Scan the wiring harness assembly label in the video frame image to obtain the wiring harness assembly information, and according to the wiring harness assembly information, retrieve the packaging information in the pre-stored packaging box, and automatically match the target packaging box information, including: based on the video frame image, determine whether the video frame image contains repeated video frame images; if so, delete the repeated video frame images to generate a first video frame image database; based on the first video frame image database, detect whether the database contains automobile wiring harness assembly label information; when the first video frame image database contains automobile wiring harness label information, scan and process the label information to obtain basic data information of the automobile wiring harness assembly, the basic data information includes: wiring harness assembly color information, wiring harness assembly type information, wiring harness assembly positioning information, the wiring harness assembly type information includes: instrument panel wiring harness assembly, engine compartment wiring harness assembly, chassis wiring harness assembly; detect and analyze the basic data information of the automobile wiring harness assembly, determine whether the automobile wiring harness assembly meets the use standard, and determine the judgment result; based on the judgment result, when it is determined that the detection result meets the use standard, retrieve the pre-stored packaging box. database, searching for target packaging box information, the target packaging box information including: target packaging box sequence information, target packaging box position information, and target packaging box volume information; wherein, the basic data information of the automobile wiring harness assembly is detected and analyzed to determine whether the automobile wiring harness assembly meets the use standard and determine the judgment result; including: detecting whether the color of the wiring harness in the automobile wiring harness assembly is consistent with the hole color of the corresponding terminal, if consistent, the first detection result is set to 1, if inconsistent, the first detection result is set to 0; detecting whether the number of wiring harnesses in the automobile wiring harness assembly is consistent with the preset number of wiring harnesses, if consistent, the second detection result is set to 1, if inconsistent, the second detection result is set to 0; detecting whether the wiring harness in the automobile wiring harness assembly has connectivity, if the wiring harness has connectivity, the third detection result is set to 1, if the wiring harness does not have connectivity, the third detection result is set to 0; judging whether the automobile wiring harness assembly meets the use standard according to the first detection result, the second detection result, and the third detection result; when the first detection result, the second detection result, and the third detection result are all 1, it is determined that the wiring harness assembly meets the use standard; Based on the virtual scene of the environment and in combination with the location information of the target packaging box, remote packing is performed.

2. A packing method for an automobile wiring harness assembly as claimed in claim 1, characterized in that: The real-time collection of container environment video stream data, obtaining environment video frame images, and performing three-dimensional modeling according to the video frame images to generate an environment virtual scene includes: Use a depth camera to shoot the packaging environment and obtain environmental video stream data; Performing video segmentation processing on the environmental video stream data to obtain a number of video frame images; Performing a preprocessing operation on the plurality of video frame images to obtain an enhanced image; Determining image parameters according to the enhanced image, and performing three-dimensional real scene modeling according to the image parameters to generate an environmental virtual scene; The data content of the depth camera is received in real time, and it is determined whether the image parameters have changed. When the image parameters have changed, a remodeling process is performed according to the image parameters, and the virtual scene of the environment is updated.

3. A packing method for an automobile wiring harness assembly as claimed in claim 1, characterized in that: The remote packing based on the virtual environment scene and in combination with the target packaging box location information includes: Automatically generate a set of transport paths based on the target packaging box location information and assembly positioning information; According to the transport path set, screening the transport paths in the transport path set to determine the optimal transport path; According to the optimal transport path, the automobile wiring harness assembly is transported over a long distance; Real-time tracking and recording of packing status information, including: The status information includes: information about wire harnesses that have been packed, information about wire harnesses that are to be packed, and information about abnormal wire harnesses; Monitor the status data of the wiring harness assembly during the packing process in real time, and compare the status data with a preset threshold to determine whether there is abnormal data in the status data. When there is abnormal data in the status data, the abnormal data is determined, an alarm level is divided, and a corresponding alarm mode is activated according to the alarm level.

4. A packing method for an automobile wiring harness assembly as claimed in claim 2, characterized in that: The performing a preprocessing operation on the plurality of video frame images to obtain an enhanced image comprises: According to the first video frame image database, grayscale processing is performed on the video frame images in the database to obtain a primary video frame image; Based on the primary video frame image, performing enhancement processing on the primary video frame image to obtain a secondary video frame image; Detecting the image noise of the secondary video frame image, and dividing the noise level according to the image noise, wherein: The noise levels include: first-level noise, second-level noise, and third-level noise. When the noise level is level 2 noise or level 3 noise, performing denoising processing on the level 2 video frame image to obtain a level 3 video frame image; The three-level video frame image is segmented to determine image features and obtain a four-level video frame image.

5. A packaging method for an automobile wiring harness assembly as claimed in claim 4, characterized in that: Determining image parameters according to the enhanced image, and performing three-dimensional real scene modeling according to the image parameters to generate an environmental virtual scene includes: According to the four-level video frame image, environmental data information is determined, wherein: The environmental data information includes: illumination data information, voxel data information, direction data information, and coordinate data information; Compare the environmental data information with a preset threshold to determine whether the environmental data information contains abnormal data information, When the environmental data information includes abnormal data information, the abnormal data information is discarded to determine valid environmental data; Determine environmental characteristics according to the effective environmental data, and analyze the environmental characteristics to obtain characteristic analysis results; Based on the feature analysis results, the environment is reconstructed in three dimensions to obtain a virtual scene of the packing environment.

6. A packaging method for an automobile wiring harness assembly as claimed in claim 3, characterized in that: The long-distance transportation of the automobile wiring harness assembly according to the optimal transportation path includes: Using a laser distance measurement method to measure the real-time distance between the automobile wiring harness assembly and surrounding objects in real time; The real-time distance is compared with a preset threshold value, and if the distance is less than the preset threshold value, it is determined to be a dangerous distance; When the distance between the automobile wiring harness and surrounding objects is a dangerous distance, an emergency obstacle avoidance mode is activated.

7. A packaging method for an automobile wiring harness assembly as claimed in claim 1, characterized in that: The detecting and analyzing the basic data information of the automobile wiring harness assembly, judging whether the automobile wiring harness assembly meets the use standard, and determining the judgment result also includes the following execution steps: Step 1: Obtain the type information of the wiring harness assembly, and classify the wiring harness assembly according to the type information to determine the classification result; Step 2: According to the classification result of the wiring harness assembly, the classification result is associated with the target packaging information; Step 3: According to the associated marking results, the wiring harness assemblies with the same classification results are searched, and the wiring harness assemblies with the same classification results are integrated, and the integrated wiring harness assemblies are transported uniformly.

8. A packaging system for automotive wiring harness assembly, characterized in that: include: Information acquisition module: used to collect container environment video stream data in real time, obtain environment video frame images, and perform three-dimensional modeling based on the video frame images to generate an environmental virtual scene; Detection and analysis module: used to scan the wiring harness assembly label in the video frame image, obtain the wiring harness assembly information, and according to the wiring harness assembly information, retrieve the packaging information in the pre-stored packaging box, and automatically match the target packaging box information, including: based on the video frame image, determine whether the video frame image contains repeated video frame images; if so, delete the repeated video frame images and generate a first video frame image database; based on the first video frame image database, detect whether the database contains automobile wiring harness assembly label information; when the first video frame image database contains automobile wiring harness label information, scan and process the label information to obtain basic data information of the automobile wiring harness assembly, the basic data information includes: wiring harness assembly color information, wiring harness assembly type information, wiring harness assembly positioning information, the wiring harness assembly type information includes: instrument panel wiring harness assembly, engine compartment wiring harness assembly, chassis wiring harness assembly; detect and analyze the basic data information of the automobile wiring harness assembly, determine whether the automobile wiring harness assembly meets the use standard, and determine the judgment result; based on the judgment result, when it is determined that the detection result meets the use standard, retrieve the pre-stored The stored packaging box database is used to search for target packaging box information, and the target packaging box information includes: target packaging box sequence information, target packaging box position information, and target packaging box volume information; wherein, the basic data information of the automobile wiring harness assembly is detected and analyzed to determine whether the automobile wiring harness assembly meets the use standard and determine the judgment result; including: detecting whether the color of the wiring harness in the automobile wiring harness assembly is consistent with the hole color of the corresponding terminal, if consistent, the first detection result is set to 1, if inconsistent, the first detection result is set to 0; detecting whether the number of wiring harnesses in the automobile wiring harness assembly is consistent with the preset number of wiring harnesses, if consistent, the second detection result is set to 1, if inconsistent, the second detection result is set to 0; detecting whether the wiring harness in the automobile wiring harness assembly has connectivity, if the wiring harness has connectivity, the third detection result is set to 1, if the wiring harness does not have connectivity, the third detection result is set to 0; judging whether the automobile wiring harness assembly meets the use standard according to the first detection result, the second detection result, and the third detection result; when the first detection result, the second detection result, and the third detection result are all 1, it is determined that the wiring harness assembly meets the use standard; The packing execution module is used to perform remote packing based on the virtual scene of the environment and the location information of the target packaging box.

Images