Flat cable male head positioning method and device and flat cable buckling equipment

Abstract

This application discloses a method, apparatus, and cable clamping device for locating male ribbon cable connectors, belonging to the field of ribbon cable technology. The method includes: acquiring first point cloud information of a first male ribbon cable connector and generating a first minimum volume bounding box; segmenting the first point cloud information according to the first minimum volume bounding box to obtain second point cloud information corresponding to the male connector region of the first ribbon cable connector; generating a second minimum volume bounding box and a second coordinate system corresponding to the second minimum volume bounding box based on the second point cloud information; and cropping the second point cloud information according to the second minimum volume bounding box, the second coordinate system, a template minimum volume bounding box, and a template coordinate system to obtain third point cloud information corresponding to the male connector region of the first ribbon cable connector, generating a third minimum volume bounding box and a third coordinate system corresponding to the third minimum volume bounding box, thereby determining the first pose information of the first male ribbon cable connector. This method can improve the positioning accuracy of the male ribbon cable connector.

Description

Technical Field

[0001] This application belongs to the field of flexible flat cable technology, and particularly relates to a method, device and equipment for positioning male flat cable connectors. Background Technology

[0002] Currently, the splicing of flexible flat cables on automated production lines for electronic devices is mostly done manually, which is inefficient and costly.

[0003] Existing visual positioning algorithms for male connectors mostly utilize point cloud model registration and alignment algorithms. This involves first establishing a point cloud model and then using the Interaction Closest Point (ICP) algorithm to find the relationship between the real-time point cloud and the model, thereby obtaining the real-time pose of the male connector. However, this approach lacks sufficient accuracy in male connector positioning, has a long algorithm processing time, and suffers from inaccurate positioning, leading to inaccurate robot grasping. Summary of the Invention

[0004] This application aims to at least solve one of the technical problems existing in the prior art. To this end, this application proposes a method, apparatus, and cable splicing device for positioning male ribbon cables, which effectively improves the positioning accuracy of male ribbon cables and helps to realize the automated splicing of flexible ribbon cables.

[0005] Firstly, this application provides a method for positioning a male connector of a ribbon cable, the method comprising:

[0006] Obtain the first point cloud information of the first male connector of the first cable;

[0007] Based on the first point cloud information, a first minimum volume bounding box is generated;

[0008] Based on the first minimum volume bounding box, the first point cloud information is segmented to obtain the second point cloud information corresponding to the male head region of the first cable male head.

[0009] Based on the second point cloud information, a second minimum volume bounding box and a second coordinate system corresponding to the second minimum volume bounding box are generated;

[0010] Based on the second minimum volume bounding box, the second coordinate system, the template minimum volume bounding box, and the template coordinate system, the second point cloud information is cropped to obtain the third point cloud information corresponding to the male head region of the first ribbon cable male head. The template minimum volume bounding box and the template coordinate system are determined based on the point cloud information of the template ribbon cable male head.

[0011] Based on the third point cloud information, a third minimum volume bounding box and a third coordinate system corresponding to the third minimum volume bounding box are generated.

[0012] Based on the third minimum volume bounding box and the third coordinate system, the first pose information of the first male connector of the cable is determined.

[0013] According to the positioning method of the male connector of the ribbon cable in this application, the male connector area of ​​the first ribbon cable is coarsely positioned by point cloud segmentation, and then the male connector area of ​​the first ribbon cable is precisely positioned by template coordinate system and template minimum volume bounding box, which effectively improves the positioning accuracy of the male connector of the ribbon cable and helps to realize the automated splicing of the flexible ribbon cable.

[0014] According to one embodiment of this application, the step of segmenting the first point cloud information based on the first minimum volume bounding box to obtain the second point cloud information corresponding to the male connector region of the first cable connector includes:

[0015] Based on the first minimum volume bounding box, two target bounding boxes are generated, and the two target bounding boxes have different sizes.

[0016] Based on the two target bounding boxes, the first point cloud information is segmented twice to obtain the fourth point cloud information corresponding to the first male connector of the cable.

[0017] Based on the fourth point cloud information, the second point cloud information is determined.

[0018] According to one embodiment of this application, generating two target bounding boxes based on the first minimum volume bounding box includes:

[0019] The first minimum volume bounding box is reduced along at least one of the length and width directions to obtain the first target bounding box.

[0020] The first minimum volume bounding box is translated along the height direction to obtain the second target bounding box.

[0021] According to one embodiment of this application, the step of performing point cloud segmentation twice on the first point cloud information based on the two target bounding boxes to obtain the fourth point cloud information corresponding to the first male connector of the cable includes:

[0022] Based on one of the two target bounding boxes, the first point cloud information is positively cropped, and based on the other of the two target bounding boxes, the first point cloud information is negatively cropped to obtain the fourth point cloud information.

[0023] According to one embodiment of this application, determining the second point cloud information based on the fourth point cloud information includes:

[0024] Clustering is performed on the fourth point cloud information to obtain multiple first point cloud clusters;

[0025] The first point cloud cluster with the most points among the plurality of first point cloud clusters is identified as the target point cloud cluster;

[0026] Based on the target point cloud cluster, the second point cloud information is determined.

[0027] According to one embodiment of this application, the minimum volume bounding box of the template and the template coordinate system are obtained through the following steps:

[0028] Obtain the template point cloud information corresponding to the male connector area of ​​the template cable connector;

[0029] The template point cloud information is fitted with an outlier plane to obtain the template fitting plane;

[0030] Based on the normal direction of the template fitting plane, generate the minimum volume bounding box of the template;

[0031] The template coordinate system is established based on the minimum volume bounding box of the template.

[0032] According to one embodiment of this application, the step of cropping the second point cloud information based on the second minimum volume bounding box, the second coordinate system, the template minimum volume bounding box, and the template coordinate system to obtain the third point cloud information corresponding to the male head region of the first ribbon cable male head includes:

[0033] Obtain the rigid body transformation matrix between the second coordinate system and the template coordinate system;

[0034] Based on the rigid body transformation matrix, the template minimum volume bounding box is transformed into the second minimum volume bounding box;

[0035] Based on the second minimum volume bounding box and the template minimum volume bounding box, the second point cloud information is cropped to obtain the third point cloud information.

[0036] Secondly, this application provides a male connector positioning device for ribbon cables, the device comprising:

[0037] The acquisition module is used to acquire the first point cloud information of the first male connector of the first cable.

[0038] The first processing module is used to generate a first minimum volume bounding box based on the first point cloud information;

[0039] The second processing module is used to perform point cloud segmentation on the first point cloud information based on the first minimum volume bounding box, so as to obtain the second point cloud information corresponding to the male head region of the first cable male head.

[0040] The third processing module is used to generate a second minimum volume bounding box and a second coordinate system corresponding to the second minimum volume bounding box based on the second point cloud information.

[0041] The fourth processing module is used to crop the second point cloud information based on the second minimum volume bounding box, the second coordinate system, the template minimum volume bounding box, and the template coordinate system to obtain the third point cloud information corresponding to the male head region of the first ribbon cable male head. The template minimum volume bounding box and the template coordinate system are determined based on the point cloud information of the template ribbon cable male head.

[0042] The fifth processing module is used to generate a third minimum volume bounding box and a third coordinate system corresponding to the third minimum volume bounding box based on the third point cloud information.

[0043] The sixth processing module is used to determine the first pose information of the first male connector of the cable based on the third minimum volume bounding box and the third coordinate system.

[0044] According to the ribbon cable male connector positioning device of this application, the male connector area of ​​the first ribbon cable male connector is coarsely positioned by point cloud segmentation, and then the male connector area of ​​the first ribbon cable male connector is precisely positioned by template coordinate system and template minimum volume bounding box, which effectively improves the positioning accuracy of the ribbon cable male connector and helps to realize the automated splicing of the flexible ribbon cable.

[0045] Thirdly, this application provides a cable-attaching device, comprising:

[0046] A positioning mechanism, wherein the positioning mechanism is used to determine the first pose information of the first male cable connector based on the cable male connector positioning method described in the first aspect above;

[0047] A cable fastening mechanism is electrically connected to the positioning mechanism. The cable fastening mechanism is used to fasten the male end of the first cable to the female end of the component to be fastened based on the first pose information.

[0048] According to the cable splicing device of this application, the male head area of ​​the first cable male head is coarsely positioned by point cloud segmentation, and then the male head area of ​​the first cable male head is precisely positioned by template coordinate system and template minimum volume bounding box, which effectively improves the positioning accuracy of the cable male head and can realize the automated splicing of soft cables.

[0049] Fourthly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the male connector positioning method for ribbon cables as described in the first aspect above.

[0050] Fifthly, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the ribbon cable male connector positioning method as described in the first aspect above.

[0051] Sixthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the ribbon cable male connector positioning method as described in the first aspect above.

[0052] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0053] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0054] Figure 1 This is one of the flowcharts illustrating the method for locating the male connector of a ribbon cable provided in this application embodiment;

[0055] Figure 2 This is one of the point cloud information schematic diagrams of the first male connector of the cable provided in the embodiments of this application;

[0056] Figure 3 This is the second schematic diagram of point cloud information of the first male connector of the cable provided in the embodiments of this application;

[0057] Figure 4 This is a second schematic flowchart of the male connector positioning method for ribbon cables provided in the embodiments of this application;

[0058] Figure 5 This is a schematic diagram of the structure of the male connector positioning device for ribbon cables provided in an embodiment of this application;

[0059] Figure 6 This is a schematic diagram of the cable-attaching device provided in the embodiments of this application;

[0060] Figure 7 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0061] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0062] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0063] The following description, in conjunction with the accompanying drawings, details the cable male connector positioning method, cable male connector positioning device, electronic device, and readable storage medium provided in this application through specific embodiments and application scenarios.

[0064] The method for locating the male connector of the ribbon cable can be applied to the terminal, and can be executed by the hardware or software in the terminal.

[0065] The terminal includes, but is not limited to, portable communication devices such as mobile phones or tablets with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads). It should also be understood that, in some embodiments, the terminal may not be a portable communication device, but rather a desktop computer with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads).

[0066] The following embodiments describe a terminal including a display and a touch-sensitive surface. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and joystick.

[0067] The ribbon cable male connector positioning method provided in this application embodiment can be executed by an electronic device or a functional module or entity in an electronic device that can implement the ribbon cable male connector positioning method. The electronic devices mentioned in this application embodiment include, but are not limited to, mobile phones, tablets, computers, cameras, and wearable devices. The following uses an electronic device as the execution subject to illustrate the ribbon cable male connector positioning method provided in this application embodiment.

[0068] like Figure 1 As shown, the method for locating the male connector of the ribbon cable includes steps 110 to 170.

[0069] Step 110: Obtain the first point cloud information of the first male connector of the first cable.

[0070] The first male connector is the male connector to be positioned. It is a connecting component of a flexible flat cable, which is commonly used as a data transmission cable for electronic devices.

[0071] In this step, the first male connector of the first ribbon cable can be photographed using a 3D sensor to collect the first point cloud information of the first male connector of the first ribbon cable.

[0072] It should be noted that, as Figure 2 As shown, the first point cloud information includes the point cloud information of the first male connector of the cable and the surrounding objects.

[0073] Step 120: Generate the first minimum volume bounding box based on the first point cloud information.

[0074] Bounding box is an algorithm for finding the optimal bounding space of a discrete point set. The basic idea is to approximate complex geometric objects with a slightly larger and simpler geometric body (called a bounding box).

[0075] In this step, the bounding box algorithm is performed based on the first point cloud information to obtain the first minimum volume bounding box corresponding to the first point cloud information.

[0076] Among them, the first minimum volume bounding box is the bounding box with the smallest volume that encloses the space where the first point cloud information is located.

[0077] In practice, the first point cloud information can be downsampled to make the structural features in the first point cloud information clearer. The first point cloud information after sampling can be fitted with an outlier plane, and the first minimum volume bounding box can be obtained based on the normal direction of the fitted plane.

[0078] Downsampling can be achieved by generating a random factor to obtain a random index number of the sampling point and then downsampling the first point cloud information. Outlier plane fitting can be achieved by using the least squares method and an outlier removal framework to fit the input points to a plane. The plane obtained by outlier plane fitting can be called the least squares fitting plane.

[0079] Step 130: Based on the first minimum volume bounding box, perform point cloud segmentation on the first point cloud information to obtain the second point cloud information corresponding to the male head region of the first male cable connector.

[0080] Point cloud segmentation divides point clouds based on spatial, geometric, and textural features, so that point clouds within a unified segment have similar features.

[0081] In this step, the first point cloud information is segmented based on the first minimum volume bounding box. The male head region of the first male connector is roughly located in the first point cloud information, and the second point cloud information corresponding to the male head region of the first male connector is obtained, thus completing the coarse positioning of the male head region of the first male connector in the first point cloud information.

[0082] Step 140: Based on the second point cloud information, generate a second minimum volume bounding box and a second coordinate system corresponding to the second minimum volume bounding box.

[0083] In this step, the bounding box algorithm is performed based on the second point cloud information to obtain the second minimum volume bounding box corresponding to the second point cloud information, and a second coordinate system is established based on the second minimum volume bounding box.

[0084] The second coordinate system can be a Cartesian coordinate system established based on the length, width, and height directions of the second minimum volume bounding box.

[0085] In this embodiment, the second point cloud information of the male head region obtained by coarse positioning can be fitted with an outlier plane based on the least squares method. Based on the normal direction of the least squares fitting plane, a second minimum volume bounding box is obtained. A second coordinate system is established according to the length, width and height directions of the second minimum volume bounding box.

[0086] Step 150: Based on the second minimum volume bounding box, the second coordinate system, the template minimum volume bounding box, and the template coordinate system, crop the second point cloud information to obtain the third point cloud information corresponding to the male head region of the first ribbon cable male head.

[0087] Among them, the minimum volume bounding box of the template and the template coordinate system are determined based on the point cloud information of the male connector of the template cabling.

[0088] In this embodiment, a 3D sensor can be used to capture images of the male connector of the template ribbon cable. Point cloud processing software such as CloudCompare or Geomagic Wrap can be used to obtain the point cloud information of the male connector area of ​​the template ribbon cable as a positioning template, generate the minimum volume bounding box of the template, and establish the template coordinate system.

[0089] It is understandable that the minimum volume bounding box of the template and the template coordinate system can be pre-generated, and different types of first ribbon cable male connectors correspond to different types of template ribbon cable male connectors.

[0090] In some embodiments, the template minimum volume bounding box and the template coordinate system are obtained through the following steps: obtaining template point cloud information corresponding to the male head region of the template ribbon cable male head; performing outlier plane fitting on the template point cloud information to obtain the template fitting plane; generating the template minimum volume bounding box based on the normal direction of the template fitting plane; and establishing the template coordinate system based on the template minimum volume bounding box.

[0091] In this step, based on the second minimum volume bounding box, the second coordinate system, the template minimum volume bounding box, and the template coordinate system, the second point cloud information is cropped to accurately locate the male head region of the first line male head, thus obtaining the third point cloud information.

[0092] In this embodiment, the template minimum volume bounding box is aligned to the second minimum volume bounding box according to the template coordinate system and the second coordinate system. The second point cloud information is cropped according to the area where the template minimum volume bounding box and the second minimum volume bounding box intersect, and the third point cloud information is obtained.

[0093] like Figure 2 As shown, the first point cloud information includes the point cloud information of the first male connector of the cable and its surrounding objects, such as... Figure 3 As shown, the gray area in the middle of the point cloud information is the male header area of ​​the first line header, and the point cloud information corresponding to the gray area in the middle is the third point cloud information.

[0094] In actual implementation, after generating the second minimum volume bounding box, a second coordinate system is established based on the direction of each axis of the template coordinate system and the information of the length, width and height of the second minimum volume bounding box, so as to facilitate the alignment of the second coordinate system and the template coordinate system.

[0095] It should be noted that there are fixture positioning errors in the component loading process on the electronic equipment production line. The point cloud information captured at different times may have certain offsets or rotations. By using the template information of the minimum volume bounding box of the template and the template coordinate system for auxiliary cutting and positioning, the male head area of ​​the first row of male connectors can be accurately located.

[0096] Step 160: Based on the third point cloud information, generate the third minimum volume bounding box and the third coordinate system corresponding to the third minimum volume bounding box.

[0097] In this embodiment, the third point cloud information of the male head region obtained by fine positioning can be fitted with an outlier plane based on the least squares method. Based on the normal direction of the least squares fitting plane, a third minimum volume bounding box is obtained. A third coordinate system is established according to the length, width and height directions of the third minimum volume bounding box.

[0098] The third coordinate system can be a Cartesian coordinate system established based on the corner points of the third minimum volume bounding box and the length, width and height directions.

[0099] Step 170: Based on the third minimum volume bounding box and the third coordinate system, determine the first pose information of the first male connector of the cable.

[0100] The third coordinate system is used to locate the first male connector. Based on the precise point cloud information of the first male connector within the third minimum volume bounding box and the third coordinate system, the first pose information of the first male connector can be obtained.

[0101] In actual implementation, after obtaining the first pose information of the first male connector of the ribbon cable, it can be directly applied to guide the robot to grasp the first male connector of the ribbon cable and guide it to the female connector of the ribbon cable, so as to accurately realize the automatic splicing of the ribbon cable on the automated production line.

[0102] It should be noted that, in this embodiment of the application, the method for locating the male connector of the ribbon cable consists of two steps: offline and online.

[0103] Offline steps: Use a 3D sensor to photograph the male connector of the template, obtain point cloud information, crop out the male connector area as the positioning template, and establish the minimum volume bounding box and template coordinate system of the template.

[0104] Online steps: First point cloud information of the first male connector is captured by a 3D sensor to generate the first minimum volume bounding box. Point cloud segmentation is performed to complete the coarse positioning of the male connector region of the first male connector. Third point cloud information of the male connector region of the first male connector is accurately cropped using the template minimum volume bounding box by aligning with the template coordinate system, thus completing the fine positioning of the male connector region of the first male connector.

[0105] This application employs a flexible point cloud segmentation algorithm to coarsely locate the male connector region of the ribbon cable, replacing the traditional point cloud registration model alignment method. This significantly reduces the complexity of the male connector localization algorithm and improves its efficiency. Secondly, by aligning with the template coordinate system, the male connector region of the ribbon cable can be accurately located, generating a minimum volume bounding box as the basis for outputting pose information, thus ensuring the accuracy and precision of the localization.

[0106] According to the ribbon cable male connector positioning method provided in the embodiments of this application, the male connector area of ​​the first ribbon cable male connector is coarsely positioned by point cloud segmentation, and then the male connector area of ​​the first ribbon cable male connector is precisely positioned by template coordinate system and template minimum volume bounding box, which effectively improves the positioning accuracy of the ribbon cable male connector and helps to realize the automated splicing of the flexible ribbon cable.

[0107] In some embodiments, step 120, segmenting the first point cloud information according to the first minimum volume bounding box to obtain the second point cloud information corresponding to the male connector region of the first cable connector, may include:

[0108] Based on the first minimum volume bounding box, two target bounding boxes are generated, and the two target bounding boxes have different sizes;

[0109] Based on the two target bounding boxes, the first point cloud information is segmented twice to obtain the fourth point cloud information corresponding to the first male connector of the cable.

[0110] Based on the fourth point cloud information, the second point cloud information is determined.

[0111] In this embodiment, based on the first minimum volume bounding box, size or position adjustments are made to generate two target bounding boxes with different sizes.

[0112] Based on the two target bounding boxes, the first point cloud information is segmented twice. One of the two target bounding boxes is used to segment the first point cloud information, and then the other of the two target bounding boxes is used to segment the first point cloud information. Based on the results of the two point cloud segmentations, the fourth point cloud information is obtained.

[0113] It should be noted that the fourth point cloud information may contain some point cloud information outside the male head area of ​​the first row of male heads, which may affect the coarse positioning of the first row of male heads. Therefore, the fourth point cloud information needs to be processed to obtain the second point cloud information for the coarse positioning of the first row of male heads.

[0114] Transforming the first minimum volume bounding box generates two target bounding boxes. The purpose is to segment the point cloud using the two target bounding boxes and locate the approximate position of the male connector region of the first cable connector. The transformation method of the first minimum volume bounding box can be selected according to actual needs, including but not limited to transformation methods such as size adjustment or position adjustment.

[0115] In some embodiments, generating two target bounding boxes based on a first minimum volume bounding box may include:

[0116] The first minimum volume bounding box is reduced along at least one of the length and width directions to obtain the first target bounding box.

[0117] The first minimum volume bounding box is translated along the height direction to obtain the second target bounding box.

[0118] In this embodiment, the first minimum volume bounding box is reduced along its length or width direction, so that the length or width of the first minimum volume bounding box changes, but the height of the first minimum volume bounding box does not change.

[0119] The length or width of the first target bounding box is different from the length or width of the first minimum volume bounding box, and the height of the first target bounding box is the same as the height of the first minimum volume bounding box.

[0120] In this embodiment, the first minimum volume bounding box is translated along the height direction of the first minimum volume bounding box. The second target bounding box and the first minimum volume bounding box have the same size but different spatial positions.

[0121] In some embodiments, the first point cloud information is segmented twice based on two target bounding boxes to obtain the fourth point cloud information corresponding to the first male connector of the cable, including:

[0122] Based on one of the two target bounding boxes, the first point cloud information is positively cropped, and based on the other of the two target bounding boxes, the first point cloud information is negatively cropped to obtain the fourth point cloud information.

[0123] For example, one of the two target bounding boxes can be the first target bounding box obtained by the reduction process, and the other of the two target bounding boxes can be the second target bounding box obtained by the translation process.

[0124] In this embodiment, the first point cloud information is positively cropped using a first target bounding box, retaining the point cloud information within the first target bounding box. The first point cloud information is then negatively cropped using a second target bounding box, retaining the point cloud information outside the second target bounding box. The point cloud information retained after the two cropping operations is combined to obtain the fourth point cloud information.

[0125] In some embodiments, determining the second point cloud information based on the fourth point cloud information includes:

[0126] Clustering of the fourth point cloud information yields multiple first point cloud clusters;

[0127] The first point cloud cluster with the most points among multiple first point cloud clusters is identified as the target point cloud cluster;

[0128] Based on the target point cloud cluster, determine the information of the second point cloud.

[0129] It is understandable that the fourth point cloud information may contain some point cloud information outside the male head area of ​​the first row of male heads. The fourth point cloud information is clustered to obtain multiple first point cloud clusters. The first point cloud cluster with the most points among the multiple first point cloud clusters is taken as the target point cloud cluster, and the second point cloud information is the point cloud information of the target point cloud cluster.

[0130] In this embodiment, the fourth point cloud information can be clustered using a Euclidean clustering algorithm with a given distance threshold, dividing the input fourth point cloud information into multiple first point cloud clusters.

[0131] In some embodiments, step 150, cropping the second point cloud information based on the second minimum volume bounding box, the second coordinate system, the template minimum volume bounding box, and the template coordinate system to obtain the third point cloud information corresponding to the male head region of the first ribbon cable male head, may include:

[0132] Obtain the rigid body transformation matrix between the second coordinate system and the template coordinate system;

[0133] Based on the rigid body transformation matrix, the template's minimum volume bounding box is transformed into the second minimum volume bounding box;

[0134] Based on the second minimum volume bounding box and the template minimum volume bounding box, the second point cloud information is cropped to obtain the third point cloud information.

[0135] In this embodiment, the rigid body transformation matrix between the second coordinate system and the template coordinate system is obtained. Based on the rigid body transformation matrix, the template point cloud, which is the minimum volume bounding box of the template, is transformed onto the real-time point cloud, which is the second minimum volume bounding box. The size of the transformed minimum volume bounding box of the template is adjusted to a certain extent so that the male head region in the second minimum volume bounding box can be completely cropped, and the third point cloud information of the male head region of the first ribbon cable male head is accurately obtained.

[0136] The following is a specific example.

[0137] like Figure 4 As shown, the positioning of the first male connector includes step 410 of establishing the offline template point cloud male connector coordinate system and step 420 of locating the real-time point cloud male connector region.

[0138] The steps for establishing the coordinate system of the offline template point cloud are as follows (410):

[0139] The template point cloud information is obtained from the male head region. The 3D sensor obtains the male head point cloud data of the template wiring. The male head region is extracted using point cloud processing software such as CloudCompare and GeomagicWrap to ensure that there are no outlier noise points or sticky noise data points in the template point cloud except for the male head region point cloud.

[0140] Obtain the minimum volume bounding box of the template in the normal direction. Obtain the least squares fitting plane for the point cloud of the male connector of the entire template. Based on the normal direction of the least squares fitting plane, obtain the maximum point distance of the point cloud in the normal direction as the height of the bounding box. Obtain the minimum bounding rectangle of the projection points of the point cloud on the fitting plane as the base of the bounding box, thus obtaining the minimum volume bounding box of the template in the normal direction.

[0141] Establish a template coordinate system. Generate a Cartesian coordinate system, i.e., the template coordinate system, based on the length, width, height and corner points of the minimum volume bounding box of the template.

[0142] The specific steps for locating the public header area in real-time point cloud are as follows:

[0143] The scene point cloud fitting plane is obtained by acquiring the first point cloud information of the scene where the first male connector of the cable is located through a 3D sensor, randomly downsampling the entire point cloud to 10% of the point cloud, and obtaining the least squares fitting plane.

[0144] Generate the first minimum volume bounding box, and obtain the least squares fitting plane based on the normal direction of the least squares fitting plane.

[0145] The bounding box is segmented by selecting the front and back sides, and target bounding boxes of different sizes are established based on the center point of the first minimum volume bounding box and the length, width and height directions.

[0146] For example, using the first minimum volume bounding box as a reference, the length and width dimensions are reduced by a certain ratio to establish the first target bounding box. The reduction ratio can be adjusted according to actual needs.

[0147] Using the first minimum volume bounding box as a reference, the entire object is offset downwards by a certain distance to create the second target bounding box. The offset distance can be adjusted according to actual needs.

[0148] The fourth point cloud information is obtained by inverse selection and clipping based on the first target bounding box and the second target bounding box.

[0149] Euclidean distance clustering segmentation is used to cluster the fourth point cloud information to obtain multiple first point cloud clusters. The first point cloud cluster with the largest number of point clouds is taken as the target point cloud cluster, and the second point cloud information of the male head region of the first line male head can be obtained, thus completing the coarse localization of the male head region of the first line male head.

[0150] Obtain the second minimum volume bounding box in the normal direction, obtain the least squares fitting plane for the point cloud of the common head region obtained by coarse localization, and obtain the second minimum volume bounding box of the point cloud based on the normal direction of the least squares fitting plane.

[0151] A second coordinate system is established. Based on the directions of each axis of the template coordinate system and the information of the length, width and height of the second minimum volume bounding box, a real-time local Cartesian coordinate system is established, namely the second coordinate system.

[0152] Coordinate system alignment is performed, and the rigid body transformation matrix of the second coordinate system and the template coordinate system is obtained. Based on the rigid body transformation matrix, the template minimum volume bounding box is transformed onto the second minimum volume bounding box of the real-time point cloud. A certain length is added according to the length and height of the template minimum volume bounding box so that the male head region of the second minimum volume bounding box can be completely clipped, thereby accurately obtaining the point cloud data of the male head region, i.e., the third point cloud information.

[0153] The male head is positioned at the center. A least-squares plane is fitted to the third point cloud information to obtain the third minimum volume bounding box based on the plane normal. A third coordinate system is generated based on the corner points and length, width and height directions of the third minimum volume bounding box to obtain the position and orientation of the first male head in the overall point cloud.

[0154] In this embodiment, a flexible point cloud segmentation algorithm is first used to coarsely locate the male connector region of the ribbon cable, replacing the traditional point cloud registration model alignment method. This greatly reduces the complexity of the male connector localization algorithm and improves the algorithm efficiency. Secondly, the male connector region of the point cloud can be accurately located in real time by aligning the template local coordinate system. At the same time, the minimum volume bounding box based on the fitted plane normal vector is used as the final male connector pose output basis, ensuring the accuracy and precision of the algorithm localization.

[0155] The male connector positioning method for ribbon cables provided in this application can be executed by a male connector positioning device. This application uses a male connector positioning device executing the male connector positioning method as an example to illustrate the male connector positioning device provided in this application.

[0156] This application also provides a cable male connector positioning device.

[0157] like Figure 5 As shown, the male connector positioning device for the ribbon cable includes:

[0158] Module 510 is used to acquire the first point cloud information of the first male connector of the first cable.

[0159] The first processing module 520 is used to generate a first minimum volume bounding box based on the first point cloud information;

[0160] The second processing module 530 is used to perform point cloud segmentation on the first point cloud information according to the first minimum volume bounding box, so as to obtain the second point cloud information corresponding to the male head region of the first cable male head;

[0161] The third processing module 540 is used to generate a second minimum volume bounding box and a second coordinate system corresponding to the second minimum volume bounding box based on the second point cloud information.

[0162] The fourth processing module 550 is used to crop the second point cloud information based on the second minimum volume bounding box, the second coordinate system, the template minimum volume bounding box and the template coordinate system to obtain the third point cloud information corresponding to the male head area of ​​the first ribbon cable male head. The template minimum volume bounding box and the template coordinate system are determined based on the point cloud information of the template ribbon cable male head.

[0163] The fifth processing module 560 is used to generate a third minimum volume bounding box and a third coordinate system corresponding to the third minimum volume bounding box based on the third point cloud information.

[0164] The sixth processing module 570 is used to determine the first pose information of the first male connector of the first cable based on the third minimum volume bounding box and the third coordinate system.

[0165] According to the embodiment of this application, the male connector positioning device of the first ribbon cable is coarsely positioned by point cloud segmentation, and then precisely positioned by template coordinate system and template minimum volume bounding box, which effectively improves the positioning accuracy of the ribbon cable and helps to realize the automated splicing of the flexible ribbon cable.

[0166] In some embodiments, the second processing module 530 is used to generate two target bounding boxes based on the first minimum volume bounding box, the two target bounding boxes having different sizes;

[0167] Based on the two target bounding boxes, the first point cloud information is segmented twice to obtain the fourth point cloud information corresponding to the first male connector of the cable.

[0168] Based on the fourth point cloud information, the second point cloud information is determined.

[0169] In some embodiments, the second processing module 530 is used to reduce the first minimum volume bounding box along at least one of the length direction and the width direction of the first minimum volume bounding box to obtain the first target bounding box.

[0170] The first minimum volume bounding box is translated along the height direction to obtain the second target bounding box.

[0171] In some embodiments, the second processing module 530 is used to perform positive selection cropping on the first point cloud information based on one of the two target bounding boxes, and to perform negative selection cropping on the first point cloud information based on the other of the two target bounding boxes, to obtain the fourth point cloud information.

[0172] In some embodiments, the second processing module 530 is used to perform clustering processing on the fourth point cloud information to obtain multiple first point cloud clusters;

[0173] The first point cloud cluster with the most points among multiple first point cloud clusters is identified as the target point cloud cluster;

[0174] Based on the target point cloud cluster, determine the information of the second point cloud.

[0175] In some embodiments, the third processing module 540 is further configured to obtain the template minimum volume bounding box and the template coordinate system through the following steps:

[0176] Obtain the template point cloud information corresponding to the male connector area of ​​the template ribbon cable male connector;

[0177] The template point cloud information is fitted with an out-of-point plane to obtain the template fitting plane.

[0178] Generate the minimum volume bounding box of the template based on the normal direction of the template fitting plane;

[0179] A template coordinate system is established based on the template's minimum volume bounding box.

[0180] In some embodiments, the fourth processing module 550 is used to obtain the rigid body transformation matrix between the second coordinate system and the template coordinate system; transform the template minimum volume bounding box to the second minimum volume bounding box according to the rigid body transformation matrix; and crop the second point cloud information according to the second minimum volume bounding box and the template minimum volume bounding box to obtain the third point cloud information.

[0181] The male connector positioning device for the ribbon cable in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the specific type of device.

[0182] The male connector positioning device in this embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this embodiment does not specifically limit its use.

[0183] The male connector positioning device provided in this application embodiment can achieve... Figures 1 to 4 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0184] This application also provides a cable-attaching device.

[0185] like Figure 6 As shown, the cable-fastening device includes a positioning mechanism 610 and a cable-fastening mechanism 620.

[0186] The positioning mechanism 610 is used to determine the first position information of the first male cable connector based on the above-mentioned cable connector positioning method.

[0187] The cable fastening mechanism 620 is connected to the positioning mechanism 610. The cable fastening mechanism 620 is used to fasten the male end of the first cable to the female end of the part to be fastened based on the first pose information.

[0188] In actual implementation, the positioning mechanism 610 may include a 3D sensor to obtain the first point cloud information of the first male connector of the first cable.

[0189] The cable fastening mechanism 620 can be a mechanical device that moves a robotic arm or other operable first male cable connector and fastens it into the female connector of the part to be fastened.

[0190] According to the cable splicing device provided in the embodiments of this application, the male head area of ​​the first cable male head is coarsely positioned by point cloud segmentation, and then the male head area of ​​the first cable male head is precisely positioned by template coordinate system and template minimum volume bounding box, which effectively improves the positioning accuracy of the cable male head and can realize the automated splicing of soft cables.

[0191] In some embodiments, such as Figure 7 As shown, this application embodiment also provides an electronic device 700, including a processor 701, a memory 702, and a computer program stored in the memory 702 and executable on the processor 701. When the program is executed by the processor 701, it implements the various processes of the above-described embodiment of the ribbon cable male connector positioning method and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0192] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0193] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described embodiment of the male connector positioning method for ribbon cables and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0194] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0195] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method for positioning the male connector of a ribbon cable.

[0196] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0197] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described embodiment of the male connector positioning method for ribbon cables, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0198] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0199] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0200] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0201] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0202] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0203] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A method of positioning a male connector of a wire harness, characterized by, The method comprises the following steps: obtaining first point cloud information of a first plug of a plug-in wire; generating a first minimum volume bounding box based on the first point cloud information; performing point cloud segmentation on the first point cloud information according to the first minimum volume bounding box to obtain second point cloud information corresponding to a plug region of the first plug of the plug-in wire; generating a second minimum volume bounding box and a second coordinate system corresponding to the second minimum volume bounding box based on the second point cloud information; cropping the second point cloud information according to the second minimum volume bounding box, the second coordinate system, a template minimum volume bounding box and a template coordinate system to obtain third point cloud information corresponding to the plug region of the first plug of the plug-in wire, wherein the template minimum volume bounding box and the template coordinate system are determined based on point cloud information of a template plug of a plug-in wire; generating a third minimum volume bounding box and a third coordinate system corresponding to the third minimum volume bounding box based on the third point cloud information; determining first pose information of the first plug of the plug-in wire based on the third minimum volume bounding box and the third coordinate system; The template minimum volume bounding box and the template coordinate system are obtained by the following steps: obtaining template point cloud information corresponding to a plug region of the template plug of the plug-in wire; performing outlier plane fitting on the template point cloud information to obtain a template fitting plane; generating the template minimum volume bounding box based on a normal direction of the template fitting plane; establishing the template coordinate system based on the template minimum volume bounding box.

2. The method of claim 1, wherein, The point cloud segmentation on the first point cloud information according to the first minimum volume bounding box to obtain the second point cloud information corresponding to the plug region of the first plug of the plug-in wire comprises: generating two target bounding boxes based on the first minimum volume bounding box, wherein the two target bounding boxes have different sizes; performing twice point cloud segmentation on the first point cloud information according to the two target bounding boxes to obtain fourth point cloud information corresponding to the first plug of the plug-in wire; determining the second point cloud information based on the fourth point cloud information.

3. The method of claim 2, wherein, The generation of the two target bounding boxes based on the first minimum volume bounding box comprises: performing reduction processing on the first minimum volume bounding box along at least one of a length direction and a width direction of the first minimum volume bounding box to obtain a first target bounding box; performing translation processing on the first minimum volume bounding box along a height direction of the first minimum volume bounding box to obtain a second target bounding box.

4. The method of claim 2, wherein, The twice point cloud segmentation on the first point cloud information according to the two target bounding boxes to obtain the fourth point cloud information corresponding to the first plug of the plug-in wire comprises: performing positive selection cropping on the first point cloud information according to one of the two target bounding boxes, and performing negative selection cropping on the first point cloud information based on the other one of the two target bounding boxes to obtain the fourth point cloud information.

5. The method of claim 2, wherein, The determination of the second point cloud information based on the fourth point cloud information comprises: performing clustering processing on the fourth point cloud information to obtain a plurality of first point cloud clusters; determining a first point cloud cluster with the most points in the plurality of first point cloud clusters as a target point cloud cluster; Determine the second point cloud information based on the target point cloud cluster.

6. The method of claim 1-5, wherein, The second point cloud information is cropped according to the second minimum volume bounding box, the second coordinate system, a template minimum volume bounding box, and a template coordinate system to obtain third point cloud information corresponding to the male head region of the first wire male head. Obtain a rigid transformation matrix between the second coordinate system and the template coordinate system. Convert the template minimum volume bounding box to the second minimum volume bounding box according to the rigid transformation matrix. Crop the second point cloud information according to the second minimum volume bounding box and the template minimum volume bounding box to obtain the third point cloud information.

7. A wire discharge male positioning device, characterized by, Comprise: An acquisition module is configured to acquire first point cloud information of a first wire male head. A first processing module is configured to generate a first minimum volume bounding box based on the first point cloud information. A second processing module is configured to perform point cloud segmentation on the first point cloud information according to the first minimum volume bounding box to obtain second point cloud information corresponding to a male head region of the first wire male head. A third processing module is configured to generate a second minimum volume bounding box and a second coordinate system corresponding to the second minimum volume bounding box based on the second point cloud information. A fourth processing module is configured to crop the second point cloud information according to the second minimum volume bounding box, the second coordinate system, a template minimum volume bounding box, and a template coordinate system to obtain third point cloud information corresponding to the male head region of the first wire male head. A fifth processing module is configured to generate a third minimum volume bounding box and a third coordinate system corresponding to the third minimum volume bounding box based on the third point cloud information. A sixth processing module is configured to determine first pose information of the first wire male head based on the third minimum volume bounding box and the third coordinate system. The template minimum volume bounding box and the template coordinate system are obtained by the following steps: Obtain template point cloud information corresponding to a male head region of the template wire male head. Perform outlier plane fitting on the template point cloud information to obtain a template fitting plane. Generate the template minimum volume bounding box based on the normal direction of the template fitting plane. Establish the template coordinate system based on the template minimum volume bounding box.

8. A pinning line apparatus, characterized by, Comprise: A positioning mechanism is configured to determine first pose information of a first wire male head based on the wire male head positioning method of any one of claims 1-6. A wire clamping mechanism is electrically connected to the positioning mechanism and is configured to clamp the first wire male head into a female head of a to-be-clamped member based on the first pose information.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the wire male head positioning method of any one of claims 1-6.

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