Flexible wire harness intelligent assembly system and control method thereof

Abstract

The invention belongs to the technical field of wire harness assembly, and discloses a flexible wire harness intelligent assembly system and a control method thereof. Comprising the following steps: reading basic information data of an automobile wire harness raw material; according to the read basic information data of the automobile wire harness raw material, selecting a matched wire, and carrying out interception and terminal crimping on the wire to obtain an initial automobile wire harness; detecting the terminal crimping position, judging whether the terminal crimping position of the initial automobile wire harness is qualified or not, detecting the terminal angle, and judging whether the terminal angle of the initial automobile wire harness is qualified or not; electrical detection is conducted on the initial automobile wire harness with the qualified terminal crimping position and terminal angle, whether electrical conduction of the initial automobile wire harness is normal or not is judged, if the electrical conduction of the initial automobile wire harness is normal, assembly of the initial automobile wire harness is qualified, and if the electrical conduction of the initial automobile wire harness is abnormal, assembly of the initial automobile wire harness is unqualified. And potential safety hazards caused by unqualified assembly are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of wire harness assembly, and more specifically, to a flexible wire harness intelligent assembly system and a control method thereof. Background Art

[0002] The patent application with the publication number CN102297867A discloses a wire harness assembly quality inspection system, including a wire harness image acquisition module for acquiring one or more frames of wire harness images; a judgment detection module for intercepting a partial image of each wire in the wire harness image, and comparing the partial image of each wire with the standard wire harness image. When the partial image of each wire in a wire harness is consistent with the standard wire harness image, the inspection is qualified, otherwise, the inspection is unqualified. The wire harness assembly quality inspection system of this invention patent performs automatic inspection through a computer-controlled assembly line method, reducing the missed inspection and false detection rate; speeding up the inspection speed; and replacing the manual inspection method with the computer inspection method, reducing the production cost.

[0003] However, during the assembly of automotive wiring harnesses, unqualified terminal crimping positions will cause poor conduction between automotive wiring harnesses and insufficient mechanical strength, resulting in abnormal voltage or current passing through the automotive wiring harnesses, causing the automotive wiring harnesses to loosen or fall off during use, thereby increasing safety hazards during vehicle operation. Unqualified terminal angles will cause insertion difficulties and incorrect angles that make it impossible to fit into place, resulting in subsequent automated assembly failures and the need to re-crimp the terminals, wasting time. The resistance of the automotive wiring harness changes with temperature. Excessive resistance changes will cause distortion of the signal waveform in the automotive wiring harness, resulting in ECU communication packet loss or abnormal code flow. A sharp increase in resistance changes will cause current transmission to be blocked and voltage drop to increase, resulting in insufficient equipment power and failure, and will also cause heat, resulting in local overheating, thereby increasing safety hazards during vehicle operation.

[0004] In view of this, the present invention proposes a flexible wire harness intelligent assembly system and a control method thereof to solve the above problems. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art and to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a flexible wiring harness intelligent assembly system, comprising an assembly center, wherein the assembly center is communicatively connected with a raw material reading component, a picking and processing component, a terminal detection component and an electrical detection component; The raw material reading component is responsible for reading the basic information data of the raw materials of the automobile wiring harness in the information source; The picking and processing component is responsible for selecting matching wires based on the basic information data of the raw materials of the automotive wiring harness, and cutting and crimping the wires to obtain the initial automotive wiring harness; The terminal detection component is responsible for detecting the terminal crimping position by combining image segmentation and target detection, converting the pixel coordinates of the terminal crimping center into real physical coordinates, and judging whether the terminal crimping position of the initial automotive wiring harness is qualified by comparing the real physical coordinates. The terminal angle is detected by combining edge detection and straight line fitting, and the pixel coordinates of the upper left and upper right endpoints of the terminal contour edge are extracted. Combined with the extraction results, the terminal angle of the initial automotive wiring harness is obtained by pixel angle conversion, and the terminal angle of the initial automotive wiring harness is judged whether the terminal angle of the initial automotive wiring harness is qualified. The electrical detection component is responsible for performing electrical detection on the initial automotive wiring harness with qualified terminal crimping position and terminal angle, obtaining the resistance of the wires in the initial automotive wiring harness under different ambient temperatures, constructing a resistance change trend graph with the horizontal axis being the temperature and the vertical axis being the resistance, obtaining the resistance jump amplitude value by analyzing the resistance change trend graph, and judging whether the electrical conduction of the initial automotive wiring harness is normal based on the resistance and the resistance jump amplitude value. If the electrical conduction of the initial automotive wiring harness is normal, the initial automotive wiring harness is qualified for assembly; if the electrical conduction of the initial automotive wiring harness is abnormal, the initial automotive wiring harness is unqualified for assembly.

[0006] Furthermore, the basic information data of the raw material of the automobile wiring harness includes the number, color, cross-sectional area and length of the wires.

[0007] Furthermore, the method of selecting matching wires based on the read basic information data of the raw materials of the automobile wiring harness, and cutting and crimping the wires to obtain the initial automobile wiring harness includes: The picking and processing component is provided with an intelligent shelf terminal, and the intelligent shelf terminal has L layers and M columns, each layer and one column corresponds to a storage grid, and each storage grid stores wires of different colors and cross-sectional areas; The pick-up personnel input the quantity, color and cross-sectional area of ​​the wires into the smart shelf terminal according to the basic information data of the raw materials of the automobile wiring harness. The smart shelf terminal opens the corresponding storage grid according to the input quantity, color and cross-sectional area, and the pick-up personnel take the wires and obtain the corresponding quantity, color and cross-sectional area. The wires are cut into corresponding lengths by a high-speed rotating blade to obtain wires of corresponding quantity, color, cross-sectional area and length; The terminals are crimped onto the wires of corresponding quantity, color, cross-sectional area and length by a terminal machine to obtain the initial automotive wiring harness.

[0008] Furthermore, the method for judging whether the initial terminal crimping position of the automobile wiring harness is qualified by comparing the real physical coordinates includes: Placing an initial automobile wiring harness in a terminal crimping position detection area, photographing the initial automobile wiring harness with a camera in the terminal crimping position detection area to obtain an initial automobile wiring harness image, obtaining pixel coordinates of a terminal crimping center in the initial automobile wiring harness image, normalizing the pixel coordinates of the terminal crimping center to obtain normalized pixel coordinates of the terminal crimping center of the initial automobile wiring harness; Convert the normalized pixel coordinates of the terminal crimping center of the initial automotive wiring harness into real physical coordinates, where the real physical coordinates include a real physical abscissa and a real physical ordinate; Obtaining standard real physical coordinates, which include standard real physical abscissas and standard real physical ordinates, subtracting the standard real physical abscissas from the real physical abscissas of the initial automobile wiring harness, and subtracting the standard real physical ordinates from the real physical ordinates of the initial automobile wiring harness, respectively performing square operations on the two subtraction results, adding the two square operation results, performing square root operations on the addition result, and obtaining the difference value between the real physical coordinates of the initial automobile wiring harness and the standard real physical coordinates; A difference value threshold is set. When the difference value between the actual physical coordinates of the initial automobile wiring harness and the standard actual physical coordinates is greater than or equal to the difference value threshold, the terminal crimping position of the initial automobile wiring harness is unqualified. Otherwise, the terminal crimping position of the initial automobile wiring harness is qualified.

[0009] Furthermore, the method for obtaining the standard real physical coordinates includes: Get A plurality of automotive wiring harnesses with qualified historical terminal crimping positions are recorded as automotive wiring harnesses with qualified crimping positions, pixel coordinates of the terminal crimping center of the automotive wiring harness with qualified crimping positions are normalized to obtain the normalized pixel coordinates of the terminal crimping center of the automotive wiring harness with qualified crimping positions, and the normalized pixel coordinates of the terminal crimping center of the automotive wiring harness with qualified crimping positions are converted into real physical coordinates; Calculate the average values ​​of the real physical abscissa and real physical ordinate of the automotive wiring harness with qualified crimping position, take the average value of the real physical abscissa of the automotive wiring harness with qualified crimping position as the standard real physical abscissa, and take the average value of the real physical ordinate of the automotive wiring harness with qualified crimping position as the standard real physical ordinate.

[0010] Furthermore, the method for determining whether the terminal angle of the initial automobile wiring harness is qualified includes: Perform Canny edge detection on the initial automobile wiring harness image to obtain the contour edge of the terminal, obtain the pixel coordinates of the upper left and upper right endpoints of the contour edge, the pixel coordinates include the pixel horizontal coordinate and the pixel vertical coordinate, and obtain the terminal angle of the initial automobile wiring harness through pixel angle conversion according to the pixel coordinates of the upper left and upper right endpoints of the contour edge, specifically including: Subtract the pixel ordinate of the upper left end point of the contour edge from the pixel ordinate of the upper right end point of the contour edge to obtain a first subtraction result, subtract the pixel abscissa of the upper left end point of the contour edge from the pixel abscissa of the upper right end point of the contour edge to obtain a second subtraction result, divide the first subtraction result by the second subtraction result, perform an inverse tangent operation on the division result, and compare the inverse tangent operation result with Divide by Multiply the result by , and obtain the terminal angle of the initial automobile wiring harness; Get 100 automobile wiring harnesses with qualified terminal angles in history are recorded as automobile wiring harnesses with qualified terminal angles, the average value of the terminal angles of the automobile wiring harnesses with qualified terminal angles is obtained, and the average value of the terminal angles of the automobile wiring harnesses with qualified terminal angles is used as the standard terminal angle; Subtract the standard terminal angle from the terminal angle of the initial automobile wiring harness, and perform an absolute value operation on the subtraction result to obtain the absolute value of the difference between the terminal angle of the initial automobile wiring harness and the standard terminal angle; A difference absolute value threshold is set. When the difference absolute value between the terminal angle of the initial automobile wiring harness and the standard terminal angle is greater than or equal to the difference absolute value threshold, the terminal angle of the initial automobile wiring harness is unqualified. Otherwise, the terminal angle of the initial automobile wiring harness is qualified.

[0011] Furthermore, the method for judging whether the initial automobile wiring harness is electrically conductive and normal based on the resistance and resistance jump amplitude value includes: At temperature ℃, ℃, ℃,……, In an environment of ℃, , and are all positive integers, and current is applied to each wire in the initial automobile wiring harness. , and measure the voltage of each wire in the initial automotive wiring harness respectively, and divide the corresponding voltage by the current The obtained temperature is ℃, ℃, ℃,……, The resistance of each wire in the initial automotive wiring harness at ℃; Set the resistance range when electrical conduction is normal. If the temperature is ℃, ℃, ℃,……, When the resistance of the wire in the initial automobile wiring harness exceeds the resistance range when the electrical conduction is normal at ℃, the electrical conduction of the initial automobile wiring harness is abnormal; If the temperature is ℃, ℃, ℃,……, When the resistance of the wire in the initial automobile wiring harness does not exceed the resistance range when the electrical conduction is normal, a resistance change trend graph is constructed; The resistance jump amplitude value is obtained by analyzing the resistance change trend diagram, and the resistance jump amplitude value threshold is set. When the resistance jump amplitude value is greater than or equal to the resistance jump amplitude value threshold, the initial automobile wiring harness electrical conductivity is abnormal, otherwise, the initial automobile wiring harness electrical conductivity is normal.

[0012] Furthermore, the method for constructing a resistance change trend graph includes: Create a blank two-dimensional rectangular coordinate system, set the horizontal coordinate of the blank two-dimensional rectangular coordinate system to temperature, set the vertical coordinate of the blank two-dimensional rectangular coordinate system to resistance, and set the temperature to ℃, ℃, ℃,……, The initial resistance of the wire in the automobile wiring harness at ℃ is filled in the blank two-dimensional rectangular coordinate system to obtain the wire resistance mapping points, and the wire resistance mapping points are connected in sequence from low to high temperature through straight lines to obtain a resistance change trend graph.

[0013] Furthermore, the method for obtaining the resistance jump amplitude value by analyzing the resistance change trend diagram includes: Starting from the second wire resistance mapping point, draw a line parallel to the vertical axis through the wire resistance mapping point and record it as the primary resistance vertical axis parallel line, draw a line parallel to the horizontal axis through the wire resistance mapping point and record it as the primary resistance horizontal axis parallel line, draw a line parallel to the vertical axis through the previous wire resistance mapping point of the wire resistance mapping point and record it as the secondary resistance vertical axis parallel line, draw a line parallel to the horizontal axis through the previous wire resistance mapping point of the wire resistance mapping point and record it as the secondary resistance horizontal axis parallel line; Obtain the rectangular area enclosed by the primary resistance vertical axis parallel line, the primary resistance horizontal axis parallel line, the secondary resistance vertical axis parallel line, and the secondary resistance horizontal axis parallel line, and use the rectangular area as the resistance jump amplitude value of the wire resistance mapping point until the last wire resistance mapping point ends.

[0014] A flexible wiring harness intelligent assembly control method, comprising: Step S1: reading basic information data of the raw materials of the automobile wiring harness; Step S2: obtaining wires of corresponding quantity, color and cross-sectional area according to the basic information data of the raw materials of the automobile wiring harness, intercepting the wires to obtain wires of corresponding quantity, color, cross-sectional area and length, crimping the wires of corresponding quantity, color, cross-sectional area and length with terminals to obtain an initial automobile wiring harness; Step S3: detecting the terminal crimping position by a combined method of image segmentation and target detection to determine whether the terminal crimping position of the initial automotive wiring harness is qualified, and detecting the terminal angle by a combined method of edge detection and straight line fitting to determine whether the terminal angle of the initial automotive wiring harness is qualified; Step S4: Conduct electrical inspection on the initial automobile wiring harness with qualified terminal crimping position and terminal angle to determine whether the initial automobile wiring harness is electrically conductive and normal. If the initial automobile wiring harness is electrically conductive and normal, the initial automobile wiring harness is assembled and qualified. If the initial automobile wiring harness is electrically conductive and abnormal, the initial automobile wiring harness is assembled and unqualified.

[0015] The technical effects and advantages of a flexible wiring harness intelligent assembly system and a control method thereof of the present invention are as follows: 1. Obtain the corresponding quantity, color and cross-sectional area of ​​wires according to the basic information data of the raw materials of the automobile wiring harness. The storage position of the wires in the intelligent shelf terminal is determined according to the frequency of use of the wires. The wires with high frequency of use are stored in the middle layer of the intelligent shelf terminal for quick access, thereby reducing the time for taking the wires and indirectly saving the assembly time of the automobile wiring harness; 2. The terminal crimping position is detected by combining image segmentation and target detection to determine whether the terminal crimping position of the initial automotive wiring harness is qualified, thereby ensuring that the automotive wiring harness with unqualified terminal crimping position will not be used, so that the automotive wiring harnesses are well-conducted and have sufficient mechanical strength, so that the voltage or current passing through the automotive wiring harness is normal, the connection strength between the automotive wiring harnesses is increased, and thus the safety hazards during the operation of the vehicle are reduced; 3. The terminal angle is detected by combining edge detection and straight line fitting to determine whether the terminal angle of the initial automotive wiring harness is qualified, thereby ensuring that automotive wiring harnesses with unqualified terminal angles will not be used, making it easier to insert automotive wiring harnesses without the need to re-crimp the terminals, saving automotive wiring harness assembly time; 4. Judge whether the electrical conduction of the automobile wiring harness is normal according to the resistance of the automobile wiring harness and the change of resistance at different ambient temperatures. Consider the influence of the change of resistance at different ambient temperatures on the electrical conduction, thereby increasing the accuracy of judgment and ensuring that the automobile wiring harness with abnormal electrical conduction will not be used, so that the signal waveform in the automobile wiring harness is normal and local overheating will not occur, thereby reducing safety hazards during the operation of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a flexible wiring harness intelligent assembly system of the present invention; Figure 2 A schematic diagram of a flexible wiring harness intelligent assembly control method of the present invention; Figure 3 It is a schematic diagram of the terminal detection and electrical detection process of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Example 1

[0019] See also Figure 1 and Figure 3 As shown, this embodiment is a flexible wiring harness intelligent assembly system, including an assembly center, which is communicatively connected to a raw material reading component, a picking and processing component, a terminal detection component, and an electrical detection component; The raw material reading component is responsible for reading the basic information data of the raw materials of the automobile wiring harness in the information source; The picking and processing component is responsible for selecting matching wires based on the basic information data of the raw materials of the automotive wiring harness, and cutting and crimping the wires to obtain the initial automotive wiring harness; The terminal detection component is responsible for detecting the terminal crimping position by combining image segmentation and target detection, converting the pixel coordinates of the terminal crimping center into real physical coordinates, and judging whether the terminal crimping position of the initial automotive wiring harness is qualified by comparing the real physical coordinates. The terminal angle is detected by combining edge detection and straight line fitting, and the pixel coordinates of the upper left and upper right endpoints of the terminal contour edge are extracted. Combined with the extraction results, the terminal angle of the initial automotive wiring harness is obtained by pixel angle conversion, and the terminal angle of the initial automotive wiring harness is judged whether the terminal angle of the initial automotive wiring harness is qualified. The electrical detection component is responsible for performing electrical detection on the initial automotive wiring harness with qualified terminal crimping position and terminal angle, obtaining the resistance of the wires in the initial automotive wiring harness under different ambient temperatures, constructing a resistance change trend graph with the horizontal axis being the temperature and the vertical axis being the resistance, obtaining the resistance jump amplitude value by analyzing the resistance change trend graph, and judging whether the electrical conduction of the initial automotive wiring harness is normal based on the resistance and the resistance jump amplitude value. If the electrical conduction of the initial automotive wiring harness is normal, the initial automotive wiring harness is qualified for assembly; if the electrical conduction of the initial automotive wiring harness is abnormal, the initial automotive wiring harness is unqualified for assembly.

[0020] The process of reading the basic information data of the raw materials of the automotive wiring harness in the information source includes: The basic information data of automotive wiring harness raw materials include the number, color, cross-sectional area and length of the wires; A basic information data reading terminal is provided, and the basic information data reading terminal is used to read the basic information data of the raw materials of the automobile wiring harness; The basic information data reading terminal is used to link the information source of the automobile wiring harness factory, in which the basic information data of the automobile wiring harness raw materials are stored, and the basic information data of the automobile wiring harness raw materials in the information source of the automobile wiring harness factory is read through the basic information data reading terminal.

[0021] Based on the basic information data of the raw materials of the automobile wiring harness, the process of selecting the matching wire includes: The picking and processing component is provided with an intelligent shelf terminal, which has L layers and M columns, and each layer and column corresponds to a storage grid, and each storage grid stores wires of different colors and cross-sectional areas. The storage positions of wires of different colors and cross-sectional areas are determined according to the use frequency of the wires; The storage locations of wires of different colors and cross-sectional areas are determined according to the frequency of use of the wires. The process includes: Get the number of wires taken from each storage grid within N days from the current time, and arrange them from large to small. According to the arrangement order, store the corresponding wires in the M / 2 column of the L / 2th layer, the (M / 2+1)th layer, the M / 2 column of the (L / 2+1)th layer, the (M / 2+1)th layer, the (M / 2+1)th layer, the (L / 2-1)th layer, the (M / 2-1)th layer, the M / 2 column of the (L / 2-1)th layer, the (M / 2+1)th layer, the (L / 2-1)th layer, the (M ...-1)th layer, the (M / 2-1)th layer, the (M / 2-1)th layer, the (M / 2-1 )th layer (M / 2+2) column, L / 2th layer (M / 2-1) column, L / 2th layer (M / 2+2) column, (L / 2+1)th layer (M / 2-1) column, (L / 2+1)th layer (M / 2+2) column, (L / 2+2)th layer (M / 2-1) column, (L / 2+2)th layer M / 2 column, (L / 2+2)th layer (M / 2+1) column, (L / 2+2)th layer (M / 2+2) column, (L / 2-2)th layer (M / 2-2) column, …, Lth layer M column; For example: the intelligent shelf terminal has 4 layers and 4 columns, and the number of wires taken is 16, 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, and 1 respectively. The number of wires taken is 16 and stored in the storage grid corresponding to the 2nd layer and 2nd column of the intelligent shelf terminal. The number of wires taken is 15 and stored in the storage grid corresponding to the 2nd layer and 3rd column of the intelligent shelf terminal. The number of wires taken is 14 and stored in the storage grid corresponding to the 3rd layer and 2nd column of the intelligent shelf terminal. The number of wires taken is 13 and stored in the storage grid corresponding to the 3rd layer and 3rd column of the intelligent shelf terminal. ..., the number of wires taken is 1 and stored in the storage grid corresponding to the 4th layer and 4th column of the intelligent shelf terminal. It should be explained that the location where the wire is stored is determined according to the frequency of use of the wire. The higher the frequency of use of the wire, the more frequently used the wire is. Therefore, the wire with high frequency of use is stored in the middle layer of the smart shelf terminal for quick access, thereby reducing the time for taking the wire and indirectly saving the assembly time of the automotive wiring harness. The pick-up personnel input the quantity, color and cross-sectional area of ​​the wires into the smart shelf terminal according to the basic information data of the raw materials of the automobile wiring harness. The smart shelf terminal opens the corresponding storage grid according to the input quantity, color and cross-sectional area, and the pick-up personnel take the wires and obtain the corresponding quantity, color and cross-sectional area. The process of intercepting the wires to obtain the corresponding number, color, cross-sectional area and length of wires includes: The wires are cut into corresponding lengths by a high-speed rotating blade to obtain wires of corresponding quantity, color, cross-sectional area and length; The process of crimping the terminals of the corresponding number, color, cross-sectional area and length of wires to obtain the initial automotive wiring harness includes: The terminals are crimped onto the wires of corresponding quantity, color, cross-sectional area and length by a terminal machine to obtain the initial automotive wiring harness.

[0022] The terminal crimping position is detected by combining image segmentation and target detection. The process of judging whether the initial terminal crimping position of the automotive wiring harness is qualified includes: Place the initial automotive wiring harness in the terminal crimping position detection area, shoot the initial automotive wiring harness with a camera in the terminal crimping position detection area, obtain the initial automotive wiring harness image, and obtain the pixel coordinates of the terminal crimping center in the initial automotive wiring harness image , normalize the pixel coordinates of the terminal crimping center to obtain the normalized pixel coordinates of the terminal crimping center of the initial automotive wiring harness ; It should be explained that during the process of placing the initial automobile wiring harness in the terminal crimping position detection area, the initial automobile wiring harness placement position is fixed; in, , ; is the normalized pixel horizontal coordinate of the terminal crimping center, is the normalized pixel ordinate of the terminal crimping center, is the pixel horizontal coordinate of the terminal crimping center, is the pixel ordinate of the terminal crimping center, is the abscissa of the optical center, that is, the abscissa of the pixel at the center of the image taken by the camera, is the optical center ordinate, that is, the pixel ordinate of the center of the image captured by the camera, and is the focal length of the camera. The optical center abscissa, optical center ordinate and the focal length of the camera are all obtained through camera calibration; It needs to be explained that after normalizing the pixel coordinates of the terminal crimping center, the influence of the camera intrinsic parameters is removed, making the pixel coordinates independent of the camera focal length; Convert the pixel coordinates of the normalized terminal crimping center of the initial automotive wiring harness to real physical coordinates ; in, ; is the real physical horizontal coordinate, is the real physical ordinate, is the 2D homogeneous transformation matrix, ; , as well as is the horizontal coordinate control coefficient, which is used to control the transformation of the pixel horizontal coordinate of the normalized terminal crimping center. , as well as is the ordinate control coefficient, which is used to control the transformation of the pixel ordinate of the normalized terminal crimping center. , , , , as well as All obtained through camera calibration; It should be explained that the real physical coordinates of the terminal crimping center, i.e., the coordinates in physical space, represent the actual position of the terminal crimping center; Get A number of automotive wiring harnesses with qualified historical terminal crimping positions are recorded as automotive wiring harnesses with qualified crimping positions, pixel coordinates of the terminal crimping center of the automotive wiring harness with qualified crimping positions are normalized to obtain the normalized pixel coordinates of the terminal crimping center of the automotive wiring harness with qualified crimping positions, and the normalized pixel coordinates of the terminal crimping center of the automotive wiring harness with qualified crimping positions are converted into real physical coordinates ; in, The index of the qualified automotive wiring harness at the crimping position, For the The actual physical horizontal coordinate of the qualified automotive wiring harness at the crimping position, For the The actual physical ordinate of the qualified automotive wiring harness at the crimping position; Obtain the standard real physical coordinates based on the real physical coordinates of the qualified automobile wiring harness at the crimping position ; in, , ; The error between the real physical coordinates of the initial automobile wiring harness and the standard real physical coordinates is calculated to obtain the difference between the real physical coordinates of the initial automobile wiring harness and the standard real physical coordinates. ; in, ; Set the difference value threshold , the difference value threshold can be set through experimental data analysis or experience. When the difference value between the real physical coordinates of the initial automobile wiring harness and the standard real physical coordinates is greater than or equal to the difference value threshold, the terminal crimping position of the initial automobile wiring harness is unqualified. When the difference value between the real physical coordinates of the initial automobile wiring harness and the standard real physical coordinates is less than the difference value threshold, the terminal crimping position of the initial automobile wiring harness is qualified. It should be explained that the traditional method compares the local image of the wire in the automobile wiring harness with the image of the qualified automobile wiring harness. When the comparison results are consistent, the automobile wiring harness is qualified, and when they are inconsistent, the automobile wiring harness is unqualified. It is difficult to find slight differences by comparing the local images of the wire in the automobile wiring harness, which causes the unqualified automobile wiring harness to be mistakenly judged as qualified. The present invention analyzes the pixel coordinates of the terminal crimping center, converts the pixel coordinates of the terminal crimping center into real physical coordinates, and judges whether the terminal crimping position of the initial automobile wiring harness is qualified by the difference between the real physical coordinates and the standard real physical coordinates. The pixel coordinates of a point are analyzed, which are more refined than the local images of the wire in the automobile wiring harness, so that slight differences can be found, further increasing the accuracy of the judgment, thereby ensuring that the automobile wiring harness with unqualified terminal crimping positions will not be used, so that the automobile wiring harnesses are well conductive and have sufficient mechanical strength, so that the voltage or current passing through the automobile wiring harness is normal, and the connection strength between the automobile wiring harnesses is increased, thereby reducing the safety hazards during the operation of the vehicle; The terminal angle is detected by combining edge detection and straight line fitting to determine whether the terminal angle of the initial automotive wiring harness is qualified. The process includes: Perform Canny edge detection on the initial automobile wiring harness image to obtain the contour edge of the terminal, obtain the pixel coordinates of the upper left and upper right endpoints of the contour edge, and obtain the terminal angle of the initial automobile wiring harness through pixel angle conversion based on the pixel coordinates of the upper left and upper right endpoints of the contour edge. ; It should be explained that the upper left endpoint of the contour edge is the leftmost, frontmost and topmost endpoint of the contour edge, and the upper right endpoint of the contour edge is the rightmost, frontmost and topmost endpoint of the contour edge; Among them, the pixel angle conversion is expressed by the formula: ; is the pixel ordinate of the upper right endpoint of the contour edge, is the pixel ordinate of the upper left endpoint of the contour edge, is the pixel horizontal coordinate of the upper right endpoint of the contour edge, is the pixel horizontal coordinate of the upper left endpoint of the contour edge, and ; Get A number of automotive wiring harnesses with qualified terminal angles are recorded as automotive wiring harnesses with qualified terminal angles, the terminal angles of the automotive wiring harnesses with qualified terminal angles are obtained, and the standard terminal angles are obtained according to the terminal angles of the automotive wiring harnesses with qualified terminal angles. ; in, ; The index of automotive wiring harnesses with qualified terminal angles. For the Terminal angles of qualified automotive wiring harnesses; Compare the terminal angle of the initial automotive wiring harness with the standard terminal angle to obtain the absolute value of the difference between the terminal angle of the initial automotive wiring harness and the standard terminal angle ; in, ; Set the absolute difference threshold , the difference absolute value threshold can be set through experimental data analysis or experience. When the absolute value of the difference between the terminal angle of the initial automobile wiring harness and the standard terminal angle is greater than or equal to the difference absolute value threshold, the terminal angle of the initial automobile wiring harness is unqualified. When the absolute value of the difference between the terminal angle of the initial automobile wiring harness and the standard terminal angle is less than the difference absolute value threshold, the terminal angle of the initial automobile wiring harness is qualified; It needs to be explained that the traditional method compares the local image of the wires in the automobile wiring harness with the image of the qualified automobile wiring harness. When the comparison results are consistent, the automobile wiring harness is qualified, and when they are inconsistent, the automobile wiring harness is unqualified. It is difficult to find slight differences by comparing the local images of the wires in the automobile wiring harness, which causes the unqualified automobile wiring harness to be mistakenly judged as qualified. The present invention obtains the terminal angle of the initial automobile wiring harness through the angle calculation formula according to the pixel coordinates of the upper left endpoint and the upper right endpoint of the contour edge, judges whether the terminal angle is qualified, and analyzes the pixel coordinates of the two points. Compared with the local image of the wires in the automobile wiring harness, it is more refined and can find slight differences, thereby increasing the accuracy of the judgment, thereby ensuring that the automobile wiring harness with unqualified terminal angles will not be used, thereby making it simple to insert between automobile wiring harnesses, without the need to re-crimp the terminals, saving automobile wiring harness assembly time.

[0023] The process of conducting electrical inspection on the initial automotive wiring harness with qualified terminal crimping position and terminal angle to determine whether the initial automotive wiring harness is electrically conductive includes: At temperature In an environment of ℃, a current is applied to each wire in the initial automotive wiring harness. , and measure the voltage of each wire in the initial automotive wiring harness, according to the current and the initial voltage of each wire in the automotive wiring harness to obtain the temperature The resistance of each wire in the initial automotive wiring harness at ℃ ; in, ; is the index of the wire in the original vehicle harness, Indicates the temperature Initial automotive wiring harness The resistance of the wire, Indicates the temperature Initial automotive wiring harness The voltage of the wire; At temperature ℃, ℃,……, In an environment of ℃, and are all positive integers, and current is applied to each wire in the initial automobile wiring harness , and the obtained temperature is ℃, ℃,……, The resistance of each wire in the initial automotive wiring harness at ℃ ; in, ; for The index of Indicates the temperature Initial automotive wiring harness The resistance of the wire, Indicates temperature Initial automotive wiring harness The voltage of the wire; Set the resistance range when electrical conduction is normal When the electrical conduction is normal, the resistance range can be set through experimental data analysis or experience. If the temperature is ℃, ℃, ℃,……, When the resistance of the wire in the initial automobile wiring harness exceeds the resistance range when the electrical conduction is normal at ℃, the electrical conduction of the initial automobile wiring harness is abnormal; If the temperature is ℃, ℃, ℃,……, When the resistance of the wire in the initial automobile wiring harness does not exceed the resistance range when the electrical conduction is normal, a resistance change trend graph is constructed; The process of constructing a resistance trend graph includes: Create a blank two-dimensional rectangular coordinate system, set the horizontal coordinate of the blank two-dimensional rectangular coordinate system to temperature, set the vertical coordinate of the blank two-dimensional rectangular coordinate system to resistance, and set the temperature to ℃, ℃, ℃,……, The resistance of the wire in the initial automobile wiring harness at ℃ is filled into a blank two-dimensional rectangular coordinate system to obtain the wire resistance mapping points, and the wire resistance mapping points are connected in sequence from low to high temperature through straight lines to obtain a resistance change trend graph; It should be explained that each wire in the initial automobile wiring harness has a resistance change trend graph, only one of which is recorded in this embodiment, and only one resistance change trend graph is analyzed below, and the analysis of the remaining resistance change trend graphs is the same as the analysis below; Starting from the second wire resistance mapping point, draw a line parallel to the vertical axis through the wire resistance mapping point, and record it as the primary resistance vertical axis parallel line, draw a line parallel to the horizontal axis through the wire resistance mapping point, and record it as the primary resistance horizontal axis parallel line, draw a line parallel to the vertical axis through the previous wire resistance mapping point of the wire resistance mapping point, and record it as the secondary resistance vertical axis parallel line, draw a line parallel to the horizontal axis through the previous wire resistance mapping point of the wire resistance mapping point, and record it as the secondary resistance horizontal axis parallel line, obtain the rectangular area enclosed by the primary resistance vertical axis parallel line, the primary resistance horizontal axis parallel line, the secondary resistance vertical axis parallel line, and the secondary resistance horizontal axis parallel line, and use the rectangular area as the resistance jump amplitude value of the wire resistance mapping point , until the last wire resistance mapping point ends; Set the resistance jump amplitude threshold The resistance jump amplitude value threshold can be set through experimental data analysis or experience. When the resistance jump amplitude value of the wire resistance mapping point is greater than or equal to the resistance jump amplitude value threshold, the initial automobile wiring harness electrical conduction is abnormal. When the resistance jump amplitude value of the wire resistance mapping point is less than the resistance jump amplitude value threshold, the initial automobile wiring harness electrical conduction is normal. It needs to be explained that the resistance of the automobile wiring harness is different under different ambient temperatures. The temperature of the automobile will change greatly from standby to startup to operation. When the temperature changes greatly, if the resistance of the automobile wiring harness changes greatly, it will cause the signal waveform in the automobile wiring harness to be distorted, resulting in ECU communication packet loss or abnormal code flow. The rapid increase in resistance change will cause the current transmission to be blocked and the voltage drop to increase, resulting in insufficient power and failure of the equipment, and will also cause heat, resulting in local overheating, which in turn increases the safety hazards during the operation of the car. Therefore, the change in resistance, that is, the resistance jump amplitude value, is used as a factor in judging whether the initial automobile wiring harness is electrically conductive or normal, thereby increasing the accuracy of the judgment and ensuring that the automobile wiring harness with abnormal electrical conductivity will not be used, so that the signal waveform in the automobile wiring harness is normal and local overheating will not occur, thereby reducing the safety hazards during the operation of the car.

[0024] In this embodiment, wires of corresponding quantity, color and cross-sectional area are obtained according to the basic information data of the raw materials of the automobile wiring harness. The storage position of the wires in the smart shelf terminal is determined according to the frequency of use of the wires, and the wires with high frequency of use are stored in the middle layer of the smart shelf terminal for quick access, thereby reducing the time for taking the wires and indirectly saving the assembly time of the automobile wiring harness; the terminal crimping position is detected by a combined method of image segmentation and target detection to determine whether the terminal crimping position of the initial automobile wiring harness is qualified, thereby ensuring that the automobile wiring harness with unqualified terminal crimping position will not be used, so that the automobile wiring harnesses are well conductive and have sufficient mechanical strength, so that the voltage or current passing through the automobile wiring harness is normal, which increases the connection strength between the automobile wiring harnesses and reduces Safety hazards during the operation of the car; the terminal angle is detected by a joint method of edge detection and straight line fitting to determine whether the terminal angle of the initial car wiring harness is qualified, thereby ensuring that the car wiring harness with unqualified terminal angle will not be used, making the insertion between car wiring harnesses simple, without the need to re-crimp the terminals, saving the assembly time of the car wiring harness; according to the resistance of the car wiring harness at different ambient temperatures and the change of resistance, it is determined whether the electrical conduction of the car wiring harness is normal, and the influence of the change of resistance at different ambient temperatures on the electrical conduction is considered, thereby increasing the accuracy of the judgment and ensuring that the car wiring harness with abnormal electrical conduction will not be used, so that the signal waveform in the car wiring harness is normal, and local overheating will not occur, thereby reducing the safety hazards during the operation of the car.

[0025] Example 2

[0026] See also Figure 2 As shown, the part not described in detail in this embodiment is described in Example 1, which provides a flexible wiring harness intelligent assembly control method, including: Step S1: reading basic information data of the raw materials of the automobile wiring harness; Step S2: obtaining wires of corresponding quantity, color and cross-sectional area according to the basic information data of the raw materials of the automobile wiring harness, intercepting the wires to obtain wires of corresponding quantity, color, cross-sectional area and length, crimping the wires of corresponding quantity, color, cross-sectional area and length with terminals to obtain an initial automobile wiring harness; Step S3: detecting the terminal crimping position by a combined method of image segmentation and target detection to determine whether the terminal crimping position of the initial automotive wiring harness is qualified, and detecting the terminal angle by a combined method of edge detection and straight line fitting to determine whether the terminal angle of the initial automotive wiring harness is qualified; Step S4: Conduct electrical inspection on the initial automobile wiring harness with qualified terminal crimping position and terminal angle to determine whether the initial automobile wiring harness is electrically conductive and normal. If the initial automobile wiring harness is electrically conductive and normal, the initial automobile wiring harness is assembled and qualified. If the initial automobile wiring harness is electrically conductive and abnormal, the initial automobile wiring harness is assembled and unqualified.

[0027] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0028] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only one, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0029] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

[0030] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A flexible wiring harness intelligent assembly system, comprising an assembly center, characterized in that: The assembly center is communicatively connected with a raw material reading component, a picking and processing component, a terminal detection component, and an electrical detection component; The raw material reading component is responsible for reading the basic information data of the raw materials of the automobile wiring harness in the information source; The picking and processing component is responsible for selecting matching wires based on the basic information data of the raw materials of the automotive wiring harness, and cutting and crimping the wires to obtain the initial automotive wiring harness; The terminal detection component is responsible for detecting the terminal crimping position by combining image segmentation and target detection, converting the pixel coordinates of the terminal crimping center into real physical coordinates, and judging whether the terminal crimping position of the initial automotive wiring harness is qualified by comparing the real physical coordinates. The terminal angle is detected by combining edge detection and straight line fitting, and the pixel coordinates of the upper left and upper right endpoints of the terminal contour edge are extracted. Combined with the extraction results, the terminal angle of the initial automotive wiring harness is obtained by pixel angle conversion, and the terminal angle of the initial automotive wiring harness is judged whether the terminal angle of the initial automotive wiring harness is qualified. The electrical detection component is responsible for performing electrical detection on the initial automotive wiring harness with qualified terminal crimping position and terminal angle, obtaining the resistance of the wires in the initial automotive wiring harness under different ambient temperatures, constructing a resistance change trend graph with the horizontal axis being the temperature and the vertical axis being the resistance, obtaining the resistance jump amplitude value by analyzing the resistance change trend graph, and judging whether the electrical conduction of the initial automotive wiring harness is normal based on the resistance and the resistance jump amplitude value. If the electrical conduction of the initial automotive wiring harness is normal, the initial automotive wiring harness is qualified for assembly; if the electrical conduction of the initial automotive wiring harness is abnormal, the initial automotive wiring harness is unqualified for assembly.

2. The flexible wiring harness intelligent assembly system according to claim 1, characterized in that: The basic information data of the raw materials of the automobile wiring harness includes the number, color, cross-sectional area and length of the wires.

3. The flexible wiring harness intelligent assembly system according to claim 2, characterized in that: The method of selecting matching wires based on the basic information data of the raw materials of the automobile wiring harness read, and cutting and crimping the wires to obtain the initial automobile wiring harness includes: The picking and processing component is provided with an intelligent shelf terminal, and the intelligent shelf terminal has L layers and M columns, each layer and one column corresponds to a storage grid, and each storage grid stores wires of different colors and cross-sectional areas; The pick-up personnel input the quantity, color and cross-sectional area of ​​the wires into the smart shelf terminal according to the basic information data of the raw materials of the automobile wiring harness. The smart shelf terminal opens the corresponding storage grid according to the input quantity, color and cross-sectional area, and the pick-up personnel take the wires and obtain the corresponding quantity, color and cross-sectional area. The wires are cut into corresponding lengths by a high-speed rotating blade to obtain wires of corresponding quantity, color, cross-sectional area and length; The terminals are crimped onto the wires of corresponding quantity, color, cross-sectional area and length by a terminal machine to obtain the initial automotive wiring harness.

4. The flexible wiring harness intelligent assembly system according to claim 3, characterized in that: The method for judging whether the initial terminal crimping position of the automobile wiring harness is qualified by comparing the real physical coordinates includes: Placing an initial automobile wiring harness in a terminal crimping position detection area, photographing the initial automobile wiring harness with a camera in the terminal crimping position detection area to obtain an initial automobile wiring harness image, obtaining pixel coordinates of a terminal crimping center in the initial automobile wiring harness image, normalizing the pixel coordinates of the terminal crimping center to obtain normalized pixel coordinates of the terminal crimping center of the initial automobile wiring harness; Convert the normalized pixel coordinates of the terminal crimping center of the initial automotive wiring harness into real physical coordinates, where the real physical coordinates include a real physical abscissa and a real physical ordinate; Obtaining standard real physical coordinates, which include standard real physical abscissas and standard real physical ordinates, subtracting the standard real physical abscissas from the real physical abscissas of the initial automobile wiring harness, and subtracting the standard real physical ordinates from the real physical ordinates of the initial automobile wiring harness, respectively performing square operations on the two subtraction results, adding the two square operation results, performing square root operations on the addition result, and obtaining the difference value between the real physical coordinates of the initial automobile wiring harness and the standard real physical coordinates; A difference value threshold is set. When the difference value between the actual physical coordinates of the initial automobile wiring harness and the standard actual physical coordinates is greater than or equal to the difference value threshold, the terminal crimping position of the initial automobile wiring harness is unqualified. Otherwise, the terminal crimping position of the initial automobile wiring harness is qualified.

5. The flexible wiring harness intelligent assembly system according to claim 4, characterized in that: The method for obtaining the standard real physical coordinates comprises: Get A plurality of automotive wiring harnesses with qualified historical terminal crimping positions are recorded as automotive wiring harnesses with qualified crimping positions, pixel coordinates of the terminal crimping center of the automotive wiring harness with qualified crimping positions are normalized to obtain the normalized pixel coordinates of the terminal crimping center of the automotive wiring harness with qualified crimping positions, and the normalized pixel coordinates of the terminal crimping center of the automotive wiring harness with qualified crimping positions are converted into real physical coordinates; Calculate the average values ​​of the real physical abscissa and real physical ordinate of the automotive wiring harness with qualified crimping position, take the average value of the real physical abscissa of the automotive wiring harness with qualified crimping position as the standard real physical abscissa, and take the average value of the real physical ordinate of the automotive wiring harness with qualified crimping position as the standard real physical ordinate.

6. The flexible wiring harness intelligent assembly system according to claim 5, characterized in that: The method for judging whether the terminal angle of the initial automobile wiring harness is qualified comprises: Perform Canny edge detection on the initial automobile wiring harness image to obtain the contour edge of the terminal, obtain the pixel coordinates of the upper left and upper right endpoints of the contour edge, the pixel coordinates include the pixel horizontal coordinate and the pixel vertical coordinate, and obtain the terminal angle of the initial automobile wiring harness through pixel angle conversion according to the pixel coordinates of the upper left and upper right endpoints of the contour edge, specifically including: Subtract the pixel ordinate of the upper left end point of the contour edge from the pixel ordinate of the upper right end point of the contour edge to obtain a first subtraction result, subtract the pixel abscissa of the upper left end point of the contour edge from the pixel abscissa of the upper right end point of the contour edge to obtain a second subtraction result, divide the first subtraction result by the second subtraction result, perform an inverse tangent operation on the division result, and compare the inverse tangent operation result with Divide by Multiply the result by , and obtain the terminal angle of the initial automobile wiring harness; Get 100 automobile wiring harnesses with qualified terminal angles in history are recorded as automobile wiring harnesses with qualified terminal angles, the average value of the terminal angles of the automobile wiring harnesses with qualified terminal angles is obtained, and the average value of the terminal angles of the automobile wiring harnesses with qualified terminal angles is used as the standard terminal angle; Subtract the standard terminal angle from the terminal angle of the initial automobile wiring harness, and perform an absolute value operation on the subtraction result to obtain the absolute value of the difference between the terminal angle of the initial automobile wiring harness and the standard terminal angle; A difference absolute value threshold is set. When the difference absolute value between the terminal angle of the initial automobile wiring harness and the standard terminal angle is greater than or equal to the difference absolute value threshold, the terminal angle of the initial automobile wiring harness is unqualified. Otherwise, the terminal angle of the initial automobile wiring harness is qualified.

7. The flexible wiring harness intelligent assembly system according to claim 6, characterized in that: The method for judging whether the initial automobile wiring harness is electrically conductive and normal based on the resistance and resistance jump amplitude value includes: At temperature ℃, ℃, ℃,……, In an environment of ℃, , and are all positive integers, and current is applied to each wire in the initial automobile wiring harness. , and measure the voltage of each wire in the initial automotive wiring harness respectively, and divide the corresponding voltage by the current The obtained temperature is ℃, ℃, ℃,……, The resistance of each wire in the initial automotive wiring harness at ℃; Set the resistance range when electrical conduction is normal. If the temperature is ℃, ℃, ℃,……, When the resistance of the wire in the initial automobile wiring harness exceeds the resistance range when the electrical conduction is normal at ℃, the electrical conduction of the initial automobile wiring harness is abnormal; If the temperature is ℃, ℃, ℃,……, When the resistance of the wire in the initial automobile wiring harness does not exceed the resistance range when the electrical conduction is normal, a resistance change trend graph is constructed; The resistance jump amplitude value is obtained by analyzing the resistance change trend diagram, and the resistance jump amplitude value threshold is set. When the resistance jump amplitude value is greater than or equal to the resistance jump amplitude value threshold, the initial automobile wiring harness electrical conductivity is abnormal, otherwise, the initial automobile wiring harness electrical conductivity is normal.

8. The flexible wiring harness intelligent assembly system according to claim 7, characterized in that: The method for constructing a resistance change trend graph comprises: Create a blank two-dimensional rectangular coordinate system, set the horizontal coordinate of the blank two-dimensional rectangular coordinate system to temperature, set the vertical coordinate of the blank two-dimensional rectangular coordinate system to resistance, and set the temperature to ℃, ℃, ℃,……, The initial resistance of the wire in the automobile wiring harness at ℃ is filled in the blank two-dimensional rectangular coordinate system to obtain the wire resistance mapping points, and the wire resistance mapping points are connected in sequence from low to high temperature through straight lines to obtain a resistance change trend graph.

9. The flexible wiring harness intelligent assembly system according to claim 8, characterized in that: The method for obtaining the resistance jump amplitude value by analyzing the resistance change trend diagram comprises: Starting from the second wire resistance mapping point, draw a line parallel to the vertical axis through the wire resistance mapping point and record it as the primary resistance vertical axis parallel line, draw a line parallel to the horizontal axis through the wire resistance mapping point and record it as the primary resistance horizontal axis parallel line, draw a line parallel to the vertical axis through the previous wire resistance mapping point of the wire resistance mapping point and record it as the secondary resistance vertical axis parallel line, draw a line parallel to the horizontal axis through the previous wire resistance mapping point of the wire resistance mapping point and record it as the secondary resistance horizontal axis parallel line; Obtain the rectangular area enclosed by the primary resistance vertical axis parallel line, the primary resistance horizontal axis parallel line, the secondary resistance vertical axis parallel line, and the secondary resistance horizontal axis parallel line, and use the rectangular area as the resistance jump amplitude value of the wire resistance mapping point until the last wire resistance mapping point ends.

10. A flexible wiring harness intelligent assembly control method, applied to the flexible wiring harness intelligent assembly system according to any one of claims 1 to 9, characterized in that: include: Step S1: reading basic information data of the raw materials of the automobile wiring harness; Step S2: obtaining wires of corresponding quantity, color and cross-sectional area according to the basic information data of the raw materials of the automobile wiring harness, intercepting the wires to obtain wires of corresponding quantity, color, cross-sectional area and length, crimping the wires of corresponding quantity, color, cross-sectional area and length with terminals to obtain an initial automobile wiring harness; Step S3: detecting the terminal crimping position by a combined method of image segmentation and target detection to determine whether the terminal crimping position of the initial automotive wiring harness is qualified, and detecting the terminal angle by a combined method of edge detection and straight line fitting to determine whether the terminal angle of the initial automotive wiring harness is qualified; Step S4: Conduct electrical inspection on the initial automobile wiring harness with qualified terminal crimping position and terminal angle to determine whether the initial automobile wiring harness is electrically conductive and normal. If the initial automobile wiring harness is electrically conductive and normal, the initial automobile wiring harness is assembled and qualified. If the initial automobile wiring harness is electrically conductive and abnormal, the initial automobile wiring harness is assembled and unqualified.

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