Flexible wiring harness intelligent assembly system and control method thereof

Abstract

The application belongs to the technical field of wire harness assembly, and discloses a flexible wire harness intelligent assembly system and a control method thereof; the system comprises the following steps: reading basic information data of automobile wire harness raw materials; selecting matched conductors according to the read basic information data of the automobile wire harness raw materials, and cutting and terminal crimping the conductors to obtain initial automobile wire harness; detecting the terminal crimping position and judging whether the terminal crimping position of the initial automobile wire harness is qualified or not, and detecting the terminal angle and judging whether the terminal angle of the initial automobile wire harness is qualified or not; electrically detecting the initial automobile wire harness with qualified terminal crimping position and terminal angle, judging whether the initial automobile wire harness is electrically conducted normally or not, if the initial automobile wire harness is electrically conducted normally, the initial automobile wire harness is qualified, if the initial automobile wire harness is not electrically conducted normally, the initial automobile wire harness is unqualified, and the safety hidden danger caused by unqualified assembly is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wiring harness assembly, more particularly, to a flexible wiring harness intelligent assembly system and a control method thereof. BACKGROUND

[0002] The patent with the application publication number CN102297867A discloses a wiring harness assembly quality detection system, which comprises a wiring harness image acquisition module for acquiring one or more wiring harness images; a judgment and detection module for intercepting the local image of each wire in the wiring harness image and comparing the local image of each wire with the standard wiring harness image; when the local image of each wire in a wiring harness is consistent with the standard wiring harness image, the detection is qualified, otherwise, the detection is unqualified. The wiring harness assembly quality detection system of the patent can automatically detect through the pipeline mode controlled by a computer, reduce the missed detection and misjudgment rate, speed up the detection, and replace the manual detection mode with the computer detection mode to reduce the production cost.

[0003] However, in the process of assembling the automobile wiring harness, the unqualified terminal crimping position can cause poor conduction between the automobile wiring harnesses and insufficient mechanical strength, so that the voltage or current passing through the automobile wiring harness is abnormal, the automobile wiring harness is loose and disconnected during use, and the safety hidden danger in the automobile operation process is increased. The unqualified terminal angle can cause difficulty in insertion, the angle is not right and cannot be clamped into the position, so that the subsequent automatic assembly fails, the terminal crimping needs to be re-performed, time is wasted, the resistance of the automobile wiring harness changes with the temperature, the large change of the resistance can cause the signal waveform distortion in the automobile wiring harness, so that the ECU communication packet loss or abnormal code stream is caused, the sharp increase of the resistance change can cause the current transmission to be blocked, the voltage drop is increased, so that the equipment power is insufficient and fails, which can also cause heating, so that the local overheating is caused, and the safety hidden danger in the automobile operation process is increased.

[0004] In view of this, the present application provides a flexible wiring harness intelligent assembly system and a control method thereof to solve the above problems. SUMMARY

[0005] In order to overcome the above-mentioned defects of the prior art, in order to achieve the above-mentioned purpose, the present application provides the following technical scheme: a flexible wiring harness intelligent assembly system, comprising an assembly center, the assembly center is communicatively connected with a raw material reading assembly, a picking and processing assembly, a terminal detection assembly and an electrical detection assembly;

[0006] The raw material reading assembly is responsible for reading the basic information data of the automobile wiring harness raw materials in the information source;

[0007] The taking and processing assembly is responsible for selecting matched conductors according to the read basic information data of the automobile wire harness raw material, and cutting and terminal crimping the conductors to obtain an initial automobile wire harness;

[0008] The terminal detection assembly is responsible for detecting the terminal crimping position through a combined method of image segmentation and target detection, converting the pixel coordinates of the terminal crimping center into real physical coordinates, judging whether the terminal crimping position of the initial automobile wire harness is qualified through comparison of the real physical coordinates, detecting the terminal angle through a combined method of edge detection and straight line fitting, extracting the pixel coordinates of the left upper end point and the right upper end point of the profile edge of the terminal, obtaining the terminal angle of the initial automobile wire harness through pixel angle conversion combined with the extraction result, and judging whether the terminal angle of the initial automobile wire harness is qualified.

[0009] The electrical detection assembly is responsible for electrical detection of the initial automobile wire harness with qualified terminal crimping position and terminal angle, obtaining the resistance of the conductors in the initial automobile wire harness under different environmental temperatures, constructing a resistance change trend graph with temperature as the horizontal coordinate and resistance as the vertical coordinate, obtaining the resistance jump amplitude value through analysis of the resistance change trend graph, judging whether the initial automobile wire harness is electrically conductive normal according to the resistance and the resistance jump amplitude value, and if the initial automobile wire harness is electrically conductive normal, the initial automobile wire harness is assembled qualified, and if the initial automobile wire harness is not electrically conductive normal, the initial automobile wire harness is assembled unqualified.

[0010] Further, the basic information data of the automobile wire harness raw material includes the number, color, cross-sectional area and length of the conductor.

[0011] Further, the method of obtaining the initial automobile wire harness according to the read basic information data of the automobile wire harness raw material includes:

[0012] The taking and processing assembly is provided with an intelligent shelf terminal, and the intelligent shelf terminal has L layers and M columns, each layer and column corresponds to a storage compartment, and each storage compartment stores conductors of different colors and cross-sectional areas;

[0013] The taking personnel input the number, color and cross-sectional area of the conductors into the intelligent shelf terminal according to the basic information data of the automobile wire harness raw material, the intelligent shelf terminal opens the corresponding storage compartment according to the input number, color and cross-sectional area, the taking personnel takes the conductors to obtain the conductors of the corresponding number, color and cross-sectional area;

[0014] The conductors are cut into the corresponding length by the high-speed rotating blade to obtain the conductors of the corresponding number, color, cross-sectional area and length;

[0015] The initial automotive wiring harness is obtained by crimping terminals onto wires of the appropriate number, color, cross-sectional area, and length using a terminal crimping machine.

[0016] Furthermore, the method for determining whether the terminal crimping position of the initial automotive wiring harness is qualified by comparing with actual physical coordinates includes:

[0017] The initial automotive wiring harness is placed in the terminal crimping position detection area. The initial automotive wiring harness is photographed by a camera in the terminal crimping position detection area to obtain an image of the initial automotive wiring harness. The pixel coordinates of the terminal crimping center in the initial automotive wiring harness image are obtained. The pixel coordinates of the terminal crimping center are normalized to obtain the normalized pixel coordinates of the terminal crimping center of the initial automotive wiring harness.

[0018] The pixel coordinates of the normalized terminal crimping center of the initial automotive wiring harness are converted into real physical coordinates, which include real physical horizontal coordinates and real physical vertical coordinates.

[0019] Obtain the standard true physical coordinates, which include the standard true physical x-coordinate and the standard true physical y-coordinate. Subtract the standard true physical x-coordinate from the true physical x-coordinate of the initial vehicle wiring harness, and subtract the standard true physical y-coordinate from the true physical y-coordinate of the initial vehicle wiring harness. Square the two subtraction results respectively, add the two square results, and take the square root of the sum to obtain the difference between the true physical coordinates of the initial vehicle wiring harness and the standard true physical coordinates.

[0020] A difference threshold is set. When the difference between the actual physical coordinates of the initial automotive wiring harness and the standard actual physical coordinates is greater than or equal to the difference threshold, the terminal crimping position of the initial automotive wiring harness is unqualified. Conversely, the terminal crimping position of the initial automotive wiring harness is qualified.

[0021] Furthermore, the method for obtaining standard real physical coordinates includes:

[0022] Get A number of automotive wiring harnesses with qualified terminal crimping positions in the past are recorded as qualified crimping positions automotive wiring harnesses. The pixel coordinates of the terminal crimping center of the qualified crimping position automotive wiring harness are normalized to obtain the normalized pixel coordinates of the terminal crimping center of the qualified crimping position automotive wiring harness. The normalized pixel coordinates of the terminal crimping center of the qualified crimping position automotive wiring harness are then converted into real physical coordinates.

[0023] Calculate the average of the true physical abscissa and true physical ordinate of the qualified automotive wiring harness at the crimping position. Use the average of the true physical abscissa of the qualified automotive wiring harness at the crimping position as the standard true physical abscissa, and use the average of the true physical ordinate of the qualified automotive wiring harness at the crimping position as the standard true physical ordinate.

[0024] Further, the method for judging whether the terminal angle of the initial automobile wire harness is qualified comprises:

[0025] performing Canny edge detection on the initial automobile wire harness image to obtain a contour edge of the terminal, obtaining pixel coordinates of a left upper end point and a right upper end point of the contour edge, the pixel coordinates comprising a pixel horizontal coordinate and a pixel vertical coordinate, and obtaining the terminal angle of the initial automobile wire harness through pixel angle conversion according to the pixel coordinates of the left upper end point and the right upper end point of the contour edge, specifically comprising:

[0026] subtracting the pixel vertical coordinate of the left upper end point of the contour edge from the pixel vertical coordinate of the right upper end point of the contour edge to obtain a first subtraction result, subtracting the pixel horizontal coordinate of the left upper end point of the contour edge from the pixel horizontal coordinate of the right upper end point of the contour edge to obtain a second subtraction result, dividing the first subtraction result by the second subtraction result, and performing an inverse tangent operation on the division result, and multiplying the result of the inverse tangent operation by divided by to obtain the terminal angle of the initial automobile wire harness;

[0027] obtaining historical terminal angle qualified automobile wire harnesses, and recording them as terminal angle qualified automobile wire harnesses, obtaining an average value of the terminal angles of the terminal angle qualified automobile wire harnesses, and taking the average value of the terminal angles of the terminal angle qualified automobile wire harnesses as a standard terminal angle;

[0028] subtracting the standard terminal angle from the terminal angle of the initial automobile wire harness, and performing an absolute value operation on the subtraction result to obtain a difference absolute value between the terminal angle of the initial automobile wire harness and the standard terminal angle;

[0029] setting a difference absolute value threshold value, when the difference absolute value between the terminal angle of the initial automobile wire harness and the standard terminal angle is greater than or equal to the difference absolute value threshold value, the terminal angle of the initial automobile wire harness is unqualified, otherwise, the terminal angle of the initial automobile wire harness is qualified.

[0030] Further, the method for judging whether the initial automobile wire harness is electrically normally conducted according to the resistance and the resistance jump amplitude value comprises:

[0031] applying a current to each wire of the initial automobile wire harness in an environment with a temperature of ℃, ℃, ℃, …, ℃, all being positive integers, and measuring a voltage of each wire of the initial automobile wire harness, and dividing the corresponding voltage by the current ​​obtaining the temperature at which the resistance of each wire in the initial automobile wire harness is ℃, ℃, ℃, ℃;

[0032] setting the resistance range when the electrical conduction is normal, if the temperature is ℃, ℃, ℃, ℃, the resistance of the wire in the initial automobile wire harness exceeds the resistance range when the electrical conduction is normal, and the electrical conduction of the initial automobile wire harness is abnormal;

[0033] if the temperature is ℃, ℃, ℃, ℃, the resistance of the wire in the initial automobile wire harness does not exceed the resistance range when the electrical conduction is normal, and a resistance change trend graph is constructed;

[0034] obtaining the resistance jump amplitude value by analyzing the resistance change trend graph, setting the resistance jump amplitude value threshold, when the resistance jump amplitude value is greater than or equal to the resistance jump amplitude value threshold, the electrical conduction of the initial automobile wire harness is abnormal, otherwise, the electrical conduction of the initial automobile wire harness is normal.

[0035] Further, the method of constructing the resistance change trend graph comprises:

[0036] establishing a blank two-dimensional rectangular coordinate system, setting the abscissa of the blank two-dimensional rectangular coordinate system as the temperature, setting the ordinate of the blank two-dimensional rectangular coordinate system as the resistance, and filling the resistance of the wire in the initial automobile wire harness into the blank two-dimensional rectangular coordinate system when the temperature is ℃, ℃, ℃, ℃, obtaining the wire resistance mapping point, sequentially connecting the wire resistance mapping point through a straight line in the order of temperature from low to high, and obtaining the resistance change trend graph.

[0037] Further, the method of obtaining the resistance jump amplitude value by analyzing the resistance change trend graph comprises:

[0038] starting from the second wire resistance mapping point, drawing a parallel line to the ordinate through the wire resistance mapping point, and recording it as the primary resistance ordinate parallel line, drawing a parallel line to the abscissa through the wire resistance mapping point, and recording it as the primary resistance abscissa parallel line, drawing a parallel line to the ordinate through the previous wire resistance mapping point of the wire resistance mapping point, and recording it as the secondary resistance ordinate parallel line, and drawing a parallel line to the abscissa through the previous wire resistance mapping point of the wire resistance mapping point, and recording it as the secondary resistance abscissa parallel line;

[0039] The rectangular area surrounded by the primary resistance longitudinal axis parallel line, the primary resistance transverse axis parallel line, the secondary resistance longitudinal axis parallel line and the secondary resistance transverse axis parallel line is obtained as the resistance jump range value of the conductor resistance mapping point until the last conductor resistance mapping point ends.

[0040] A flexible wire harness intelligent assembly control method, comprising:

[0041] Step S1: reading the basic information data of the automobile wire harness raw material;

[0042] Step S2: obtaining the conductor with corresponding quantity, color and cross-sectional area according to the basic information data of the automobile wire harness raw material, and cutting the conductor to obtain the conductor with corresponding quantity, color, cross-sectional area and length, and terminal crimping the conductor with corresponding quantity, color, cross-sectional area and length to obtain the initial automobile wire harness;

[0043] Step S3: detecting the terminal crimping position by the method of image segmentation and target detection joint, judging whether the terminal crimping position of the initial automobile wire harness is qualified, detecting the terminal angle by the method of edge detection and straight line fitting joint, and judging whether the terminal angle of the initial automobile wire harness is qualified;

[0044] Step S4: electrically detecting the initial automobile wire harness with qualified terminal crimping position and terminal angle to judge whether the initial automobile wire harness is electrically conducted normally, if the initial automobile wire harness is electrically conducted normally, the initial automobile wire harness is qualified, and if the initial automobile wire harness is not electrically conducted normally, the initial automobile wire harness is unqualified.

[0045] The technical effects and advantages of the flexible wire harness intelligent assembly system and the control method thereof are as follows:

[0046] 1. The conductor with corresponding quantity, color and cross-sectional area is obtained according to the basic information data of the automobile wire harness raw material, and the storage position of the conductor in the intelligent shelf terminal is determined according to the use frequency of the conductor, the conductor with high use frequency is stored in the middle layer of the intelligent shelf terminal, so that the conductor can be quickly taken and placed, thereby reducing the time for taking the conductor and indirectly saving the assembly time of the automobile wire harness;

[0047] 2. The terminal crimping position is detected by the method of image segmentation and target detection joint, and whether the terminal crimping position of the initial automobile wire harness is qualified is judged, so that the automobile wire harness with unqualified terminal crimping position is not used, thereby ensuring that the automobile wire harness is well conducted and has sufficient mechanical strength, the voltage or current passing through the automobile wire harness is normal, the connection strength between the automobile wire harnesses is increased, and the safety hidden danger in the automobile running process is reduced;

[0048] 3. The terminal angle is detected by the method combined by edge detection and straight line fitting, whether the initial automobile wire harness terminal angle is qualified is judged, so that the automobile wire harness with unqualified terminal angle is not used, and then the automobile wire harness is inserted simply, and the terminal crimping is not needed to be re-performed, and the automobile wire harness assembly time is saved;

[0049] 4. Whether the automobile wire harness is electrically conducted normally is judged according to the automobile wire harness resistance under different environment temperatures and the resistance change, the influence of the resistance change under different environment temperatures on the electrical conduction is considered, and then the judgment accuracy is increased, and the automobile wire harness with abnormal electrical conduction is not used, so that the signal waveform in the automobile wire harness is normal, and the local overheating condition is not caused, and then the safety hidden danger in the automobile running process is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 It is a flexible wire harness intelligent assembly system schematic diagram of the present application;

[0051] Figure 2 It is a flexible wire harness intelligent assembly control method schematic diagram of the present application;

[0052] Figure 3 It is a terminal detection and electrical detection flow schematic diagram of the present application. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0054] Embodiment 1

[0055] Please refer to Figure 1 and Figure 3 , the present embodiment is a flexible wire harness intelligent assembly system, which comprises an assembly center, and the assembly center is communicatively connected with a raw material reading assembly, a taking and processing assembly, a terminal detection assembly and an electrical detection assembly;

[0056] The raw material reading assembly is responsible for reading the basic information data of the automobile wire harness raw material in the information source;

[0057] The taking and processing assembly is responsible for selecting the matched lead according to the read basic information data of the automobile wire harness raw material, and cutting and terminal crimping the lead to obtain the initial automobile wire harness;

[0058] The terminal detection assembly is responsible for detecting the terminal crimping position through a method combining image segmentation and target detection, converting the pixel coordinates of the terminal crimping center into real physical coordinates, judging whether the terminal crimping position of the initial automobile wire harness is qualified by comparing the real physical coordinates, detecting the terminal angle through a method combining edge detection and straight line fitting, extracting the pixel coordinates of the left upper end point and the right upper end point of the profile edge of the terminal, obtaining the terminal angle of the initial automobile wire harness through pixel angle conversion combined with the extraction result, and judging whether the terminal angle of the initial automobile wire harness is qualified;

[0059] The electrical detection assembly is responsible for electrical detection of the initial automobile wire harness with qualified terminal crimping position and terminal angle, obtaining the resistance of the wire in the initial automobile wire harness under different environmental temperatures, constructing a resistance change trend graph with temperature as the horizontal coordinate and resistance as the vertical coordinate, obtaining the resistance jump amplitude value by analyzing the resistance change trend graph, judging whether the initial automobile wire harness is electrically conductive normal according to the resistance and the resistance jump amplitude value, if the initial automobile wire harness is electrically conductive normal, the initial automobile wire harness is assembled qualified, and if the initial automobile wire harness is not electrically conductive normal, the initial automobile wire harness is assembled unqualified.

[0060] The process of reading the basic information data of the automobile wire harness raw material in the information source includes:

[0061] The basic information data of the automobile wire harness raw material includes the number, color, cross-sectional area and length of the wire;

[0062] A basic information data reading terminal is set, which is used to read the basic information data of the automobile wire harness raw material;

[0063] The information source of the automobile wire harness factory is linked through the basic information data reading terminal, and the basic information data of the automobile wire harness raw material is stored in the information source of the automobile wire harness factory, and the basic information data of the automobile wire harness raw material in the information source of the automobile wire harness factory is read through the basic information data reading terminal.

[0064] According to the read basic information data of the automobile wire harness raw material, the process of selecting matched wires includes:

[0065] The goods processing assembly is provided with an intelligent shelf terminal, the intelligent shelf terminal has L layers and M columns, each layer and column corresponds to a storage compartment, each storage compartment stores wires of different colors and cross-sectional areas, and the storage positions of wires of different colors and cross-sectional areas are determined according to the use frequency of the wires;

[0066] The storage positions of wires of different colors and cross-sectional areas are determined according to the use frequency of the wires, and the process includes:

[0067] Obtaining the number of wires stored in each storage compartment within N days from the current time, and arranging them in descending order, and storing the corresponding wires in the L / 2 layer M / 2 column, L / 2 layer (M / 2+1) column, (L / 2+1) layer M / 2 column, (L / 2+1) layer (M / 2+1) column, (L / 2-1) layer (M / 2-1) column, (L / 2-1) layer M / 2 column, (L / 2-1) layer (M / 2+1) column, (L / 2-1) layer (M / 2+2) column, L / 2 layer (M / 2-1) column, L / 2 layer (M / 2+2) column, (L / 2+1) layer (M / 2-1) column, (L / 2+1) layer (M / 2+2) column, (L / 2+2) layer (M / 2-1) column, (L / 2+2) layer M / 2 column, (L / 2+2) layer (M / 2+1) column, (L / 2+2) layer (M / 2+2) column, (L / 2-2) layer (M / 2-2) column, …, L layer M column in order;

[0068] For example, the intelligent shelf terminal is 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, 1 from large to small, the wire with the number of 16 is stored in the corresponding storage compartment of the 2nd layer and 2nd column of the intelligent shelf terminal, the wire with the number of 15 is stored in the corresponding storage compartment of the 2nd layer and 3rd column of the intelligent shelf terminal, the wire with the number of 14 is stored in the corresponding storage compartment of the 3rd layer and 2nd column of the intelligent shelf terminal, the wire with the number of 13 is stored in the corresponding storage compartment of the 3rd layer and 3rd column of the intelligent shelf terminal, …, the wire with the number of 1 is stored in the corresponding storage compartment of the 4th layer and 4th column of the intelligent shelf terminal;

[0069] It needs to be explained that the position of the wire is determined according to the frequency of use of the wire, the higher the frequency of use of the wire, the more frequently the wire is used, so the wire with high frequency of use is stored in the middle layer of the intelligent shelf terminal, so as to facilitate quick taking and placing, thereby reducing the time of taking the wire, and indirectly saving the assembly time of the automobile wire harness;

[0070] The warehouse personnel input the number, color and cross-sectional area of the wire into the intelligent shelf terminal according to the basic information data of the automobile wire harness raw material, the intelligent shelf terminal opens the corresponding storage compartment according to the input number, color and cross-sectional area, and the warehouse personnel takes the wire to obtain the wire with the corresponding number, color and cross-sectional area;

[0071] The process of cutting the wire to obtain the wire with the corresponding number, color, cross-sectional area and length includes:

[0072] The wires are cut into corresponding lengths by a high-speed rotating blade to obtain a corresponding number of wires with different colors, cross-sectional areas and lengths;

[0073] The process of terminal crimping the corresponding number of wires with different colors, cross-sectional areas and lengths to obtain the initial automobile wiring harness includes:

[0074] The process of terminal crimping the corresponding number of wires with different colors, cross-sectional areas and lengths to obtain the initial automobile wiring harness includes:

[0075] The process of terminal crimping the corresponding number of wires with different colors, cross-sectional areas and lengths to obtain the initial automobile wiring harness includes:

[0076] The process of terminal crimping the corresponding number of wires with different colors, cross-sectional areas and lengths to obtain the initial automobile wiring harness includes: The process of terminal crimping the corresponding number of wires with different colors, cross-sectional areas and lengths to obtain the initial automobile wiring harness includes: The process of terminal crimping the corresponding number of wires with different colors, cross-sectional areas and lengths to obtain the initial automobile wiring harness includes:

[0077] It should be explained that during the process of placing the initial automobile wiring harness in the terminal crimping position detection area, the position of the initial automobile wiring harness is fixed.

[0078] wherein, , ; is the normalized pixel horizontal coordinate of the terminal crimping center, is the normalized pixel vertical coordinate of the terminal crimping center, is the pixel horizontal coordinate of the terminal crimping center, is the pixel vertical coordinate of the terminal crimping center, is the horizontal coordinate of the optical center, i.e. the pixel horizontal coordinate of the center of the image captured by the camera, is the vertical coordinate of the optical center, i.e. the pixel vertical coordinate of the center of the image captured by the camera, and is the focal length of the camera, the horizontal coordinate of the optical center, the vertical coordinate of the optical center and the focal length of the camera are obtained by camera calibration;

[0079] It should be explained that after the pixel coordinates of the terminal crimping center are normalized, the influence of the camera internal parameters is removed, and the pixel coordinates are independent of the focal length of the camera.

[0080] The normalized pixel coordinates of the terminal crimping center of the initial automobile wiring harness are converted into real physical coordinates ;

[0081] wherein, ; is a real physical horizontal coordinate, is a real physical vertical coordinate, is a 2D homogeneous transformation matrix, ; , and is a horizontal coordinate control coefficient for controlling the transformation of the pixel horizontal coordinate of the normalized terminal crimping center, , and is a vertical coordinate control coefficient for controlling the transformation of the pixel vertical coordinate of the normalized terminal crimping center, , , , , and are all obtained by camera calibration;

[0082] It needs to be explained that the real physical coordinates of the terminal crimping center, that is, the coordinates in the physical space, represent the actual position of the terminal crimping center;

[0083] Obtain historical terminal crimping position qualified automobile wire harnesses, and mark them as crimping position qualified automobile wire harnesses, normalize the pixel coordinates of the terminal crimping center of the crimping position qualified automobile wire harnesses, obtain the pixel coordinates of the terminal crimping center of the normalized crimping position qualified automobile wire harnesses, and convert the pixel coordinates of the terminal crimping center of the normalized crimping position qualified automobile wire harnesses into real physical coordinates ;

[0084] wherein, is the index of the crimping position qualified automobile wire harness, is the real physical horizontal coordinate of the th crimping position qualified automobile wire harness, is the real physical vertical coordinate of the th crimping position qualified automobile wire harness;

[0085] Obtain standard real physical coordinates from the real physical coordinates of the crimping position qualified automobile wire harnesses;

[0086] wherein, , ;

[0087] Calculate the error between the real physical coordinates of the initial automobile wire harness and the standard real physical coordinates to obtain the difference value between the real physical coordinates of the initial automobile wire harness and the standard real physical coordinates ;

[0088] wherein, ;

[0089] setting a 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 wire 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 wire harness is unqualified. When the difference value between the real physical coordinates of the initial automobile wire harness and the standard real physical coordinates is less than the difference value threshold, the terminal crimping position of the initial automobile wire harness is qualified.

[0090] It needs to be explained that the traditional method compares the local image of the wire in the automobile wire harness with the image of the qualified automobile wire harness. When the comparison result is consistent, the automobile wire harness is qualified. When the comparison result is inconsistent, the automobile wire harness is unqualified. It is difficult to find slight differences by comparing the local image of the wire in the automobile wire harness, thereby causing the unqualified automobile wire harness to be misjudged as qualified. In the present application, the pixel coordinates of the terminal crimping center are analyzed, the pixel coordinates of the terminal crimping center are converted into real physical coordinates, and whether the terminal crimping position of the initial automobile wire harness is qualified is judged by the difference value between the real physical coordinates and the standard real physical coordinates. Compared with the local image of the wire in the automobile wire harness, the analysis of the pixel coordinates of a point is more detailed, so that slight differences can be found, thereby further increasing the accuracy of the judgment, so that the automobile wire harness with unqualified terminal crimping position will not be used, thereby ensuring that the automobile wire harness is good in conduction between the wires, sufficient in mechanical strength, and normal in voltage or current passing through the automobile wire harness, thereby increasing the connection strength between the automobile wire harnesses, and further reducing the safety hidden danger in the automobile running process.

[0091] The process of judging whether the terminal angle of the initial automobile wire harness is qualified includes:

[0092] Canny edge detection is performed on the initial automobile wire harness image to obtain the contour edge of the terminal. The pixel coordinates of the left upper end point and the right upper end point of the contour edge are obtained. The terminal angle of the initial automobile wire harness is obtained by pixel angle conversion according to the pixel coordinates of the left upper end point and the right upper end point of the contour edge ;

[0093] It needs to be explained that the left upper end point of the contour edge is the leftmost, frontmost and uppermost end point of the contour edge, and the right upper end point of the contour edge is the rightmost, frontmost and uppermost end point of the contour edge.

[0094] The pixel angle conversion is expressed by the formula: ; is the pixel vertical coordinate of the right upper end point of the contour edge, is the pixel vertical coordinate of the left upper end point of the contour edge, is a pixel horizontal coordinate of a right upper end point of the contour edge, is a pixel horizontal coordinate of a left upper end point of the contour edge, and

[0095] acquire a terminal angle qualified automobile wire harness, and record it as a terminal angle qualified automobile wire harness, acquire a terminal angle of the terminal angle qualified automobile wire harness, and obtain a standard terminal angle according to the terminal angle of the terminal angle qualified automobile wire harness

[0096] wherein, is an index of the terminal angle qualified automobile wire harness, is a terminal angle of the terminal angle qualified automobile wire harness; compare the terminal angle of the initial automobile wire harness with the standard terminal angle, and obtain a difference absolute value between the terminal angle of the initial automobile wire harness and the standard terminal angle

[0097]

[0098] wherein,

[0099] set a difference absolute value threshold , the difference absolute value threshold can be set through experimental data analysis or experience, when the difference absolute value between the terminal angle of the initial automobile wire harness and the standard terminal angle is greater than or equal to the difference absolute value threshold, the terminal angle of the initial automobile wire harness is unqualified, when the difference absolute value between the terminal angle of the initial automobile wire harness and the standard terminal angle is less than the difference absolute value threshold, the terminal angle of the initial automobile wire harness is qualified;

[0100] It needs to be explained that the traditional method compares the local image of the wire in the automobile wire harness with the image of the qualified automobile wire harness, when the comparison result is consistent, the automobile wire harness is qualified, when the comparison result is inconsistent, the automobile wire harness is unqualified, it is difficult to find slight differences by comparing the local image of the wire in the automobile wire harness, thereby causing the unqualified automobile wire harness to be misjudged as qualified, and the present application obtains the terminal angle of the initial automobile wire harness according to the pixel coordinates of the left upper end point and the right upper end point of the contour edge through the angle calculation formula, judges whether the terminal angle is qualified, analyzes the pixel coordinates of the two points, which is more detailed than the local image of the wire in the automobile wire harness, can find out slight differences, thereby increasing the accuracy of the judgment, and further ensuring that the automobile wire harness with unqualified terminal angle will not be used, thereby making the insertion between the automobile wire harnesses simple, without re-performing terminal crimping, saving automobile wire harness assembly time.

[0101] ​​​​​​The process of performing electrical testing on initial automotive wiring harnesses with qualified terminal crimping positions and terminal angles to determine whether the initial automotive wiring harness has normal electrical conductivity includes:

[0102] At a temperature of At a temperature of ℃, 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, based on the current. The voltage of each wire in the initial automotive wiring harness is obtained at the temperature. Resistance of each wire in the initial automotive wiring harness at ℃ ;

[0103] in, ; This refers to the index of the wires in the initial automotive wiring harness. Indicates temperature as The first in the initial automotive wiring harness at ℃ The resistance of a wire, Indicates temperature as The first in the initial automotive wiring harness at ℃ The voltage across the conductor;

[0104] At a temperature of ℃ ℃、……、 At ℃, and All are positive integers, and a current is applied to each wire in the initial automotive wiring harness. The temperature obtained is ℃ ℃、……、 Resistance of each wire in the initial automotive wiring harness at ℃ ;

[0105] in, ; for index, Indicates temperature as The first in the initial automotive wiring harness at ℃ The resistance of a wire, Indicates temperature The first in the initial automotive wiring harness at ℃ The voltage across the conductor;

[0106] Set the resistance range when electrical conduction is normal. When 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 wire harness exceeds the resistance range when the electrical conduction is normal at 0°C, 10°C, 20°C, …, 90°C, the electrical conduction of the initial automobile wire harness is not normal;

[0107] When the temperature is °C, °C, °C, …, °C, the resistance of the wire in the initial automobile wire harness does not exceed the resistance range when the electrical conduction is normal, and a resistance change trend graph is constructed;

[0108] The process of constructing the resistance change trend graph includes:

[0109] A blank two-dimensional rectangular coordinate system is established, the abscissa of the blank two-dimensional rectangular coordinate system is set as the temperature, the ordinate of the blank two-dimensional rectangular coordinate system is set as the resistance, and the resistance of the wire in the initial automobile wire harness at 0°C, 10°C, 20°C, …, 90°C is filled into the blank two-dimensional rectangular coordinate system to obtain wire resistance mapping points, and the wire resistance mapping points are sequentially connected by straight lines in the order of temperature from low to high to obtain a resistance change trend graph; °C, °C, °C, …, °C;

[0110] It should be explained that each wire in the initial automobile wire 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;

[0111] From the second wire resistance mapping point, a parallel line to the ordinate is drawn through the wire resistance mapping point and is denoted as a primary resistance ordinate parallel line, a parallel line to the abscissa is drawn through the wire resistance mapping point and is denoted as a primary resistance abscissa parallel line, a parallel line to the ordinate is drawn through the previous wire resistance mapping point of the wire resistance mapping point and is denoted as a secondary resistance ordinate parallel line, and a parallel line to the abscissa is drawn through the previous wire resistance mapping point of the wire resistance mapping point and is denoted as a secondary resistance abscissa parallel line, to obtain a rectangular area enclosed by the primary resistance ordinate parallel line, the primary resistance abscissa parallel line, the secondary resistance ordinate parallel line, and the secondary resistance abscissa parallel line, and the rectangular area is taken as the resistance jump amplitude value of the wire resistance mapping point , and this process ends with the last wire resistance mapping point;

[0112] A resistance jump amplitude value threshold is set, which 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 electrical conduction of the initial automobile wire harness is not normal, and when the resistance jump amplitude value of the wire resistance mapping point is less than the resistance jump amplitude value threshold, the electrical conduction of the initial automobile wire harness is normal;

[0113] It needs to be explained that the resistance of the automobile wire harness is different at different environmental temperatures. The temperature changes greatly from standby to start to run. If the resistance of the automobile wire harness changes greatly, the signal waveform in the automobile wire harness will be distorted, causing ECU communication packet loss or abnormal code stream. If the resistance changes sharply, the current transmission will be blocked, and the voltage drop will increase, causing the device power to be insufficient and malfunctioning, which will also cause heating, resulting in local overheating, thereby increasing the safety hazards during the operation of the automobile. Therefore, the change of the resistance, i.e. the resistance jump range value, is used as a factor to judge whether the initial automobile wire harness is electrically connected normally, thereby increasing the accuracy of the judgment, ensuring that the automobile wire harness with abnormal electrical connection will not be used, so that the signal waveform in the automobile wire harness is normal, and local overheating will not occur, thereby reducing the safety hazards during the operation of the automobile.

[0114] In this embodiment, the wire with the corresponding number, color and cross-sectional area is obtained according to the basic information data of the automobile wire harness raw material. The storage position of the wire in the intelligent shelf terminal is determined according to the use frequency of the wire. The wire with high use frequency is stored in the middle layer of the intelligent shelf terminal, so as to facilitate quick taking and placing, thereby reducing the time for taking the wire and indirectly saving the assembly time of the automobile wire harness; the terminal crimping position is detected by the image segmentation and target detection combined method, and whether the terminal crimping position of the initial automobile wire harness is qualified is judged, thereby ensuring that the automobile wire harness with unqualified terminal crimping position will not be used, so that the automobile wire harness is well connected and has sufficient mechanical strength, the voltage or current passing through the automobile wire harness is normal, the connection strength between the automobile wire harnesses is increased, and the safety hazards during the operation of the automobile are reduced; the terminal angle is detected by the edge detection and straight line fitting combined method, and whether the terminal angle of the initial automobile wire harness is qualified is judged, thereby ensuring that the automobile wire harness with unqualified terminal angle will not be used, so that the automobile wire harness is easily inserted, and terminal crimping is not needed to be re-performed, thereby saving the assembly time of the automobile wire harness; whether the automobile wire harness is electrically connected normally is judged according to the resistance of the automobile wire harness at different environmental temperatures and the change of the resistance, the influence of the change of the resistance at different environmental temperatures on the electrical connection is considered, thereby increasing the accuracy of the judgment, ensuring that the automobile wire harness with abnormal electrical connection will not be used, so that the signal waveform in the automobile wire harness is normal, and local overheating will not occur, thereby reducing the safety hazards during the operation of the automobile.

[0115] Embodiment 2

[0116] Please refer to Figure 2 The embodiment does not describe some parts in detail, which can be seen from the description of embodiment 1. A flexible wire harness intelligent assembly control method is provided, which includes:

[0117] Step S1: reading basic information data of the automobile wire harness raw material;

[0118] Step S2: obtaining a corresponding number, color and cross-sectional area of the wire according to the basic information data of the automobile wire harness raw material, cutting the wire to obtain a wire with a corresponding number, color, cross-sectional area and length, and crimping a terminal on the wire with the corresponding number, color, cross-sectional area and length to obtain an initial automobile wire harness;

[0119] Step S3: detecting the terminal crimping position by a method combining image segmentation and target detection to determine whether the terminal crimping position of the initial automobile wire harness is qualified, and detecting the terminal angle by a method combining edge detection and straight line fitting to determine whether the terminal angle of the initial automobile wire harness is qualified;

[0120] Step S4: electrically detecting the initial automobile wire harness with a qualified terminal crimping position and terminal angle to determine whether the initial automobile wire harness is electrically conducted normally, and if the initial automobile wire harness is electrically conducted normally, the initial automobile wire harness is qualified, and if the initial automobile wire harness is not electrically conducted normally, the initial automobile wire harness is unqualified.

[0121] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed in the present application can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software mode depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0122] In several embodiments provided by the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic. The division of the units is only one, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0123] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

[0124] Finally: the above only for the preferred embodiments of the present application, and not for limiting the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application, should be included in the scope of protection of the present application.

Claims

1. A flexible wiring harness intelligent assembly system comprising an assembly center, characterized in that, The assembly center is communicated with a raw material reading assembly, a taking and processing assembly, a terminal detection assembly and an electrical detection assembly; The raw material reading assembly is responsible for reading basic information data of the automobile wire harness raw material in the information source; The taking and processing assembly is responsible for selecting matched conductors according to the read basic information data of the automobile wire harness raw material, cutting and terminal crimping the conductors, and obtaining an initial automobile wire harness; The terminal detection assembly is responsible for detecting the terminal crimping position by a method combining image segmentation and target detection, converting the pixel coordinates of the terminal crimping center into real physical coordinates, judging whether the terminal crimping position of the initial automobile wire harness is qualified by comparing the real physical coordinates, detecting the terminal angle by a method combining edge detection and straight line fitting, extracting the pixel coordinates of the left upper end point and the right upper end point of the profile edge of the terminal, obtaining the terminal angle of the initial automobile wire harness by pixel angle conversion combined with the extraction result, and judging whether the terminal angle of the initial automobile wire harness is qualified; The electrical detection assembly is responsible for electrically detecting the initial automobile wire harness with qualified terminal crimping position and terminal angle, obtaining the resistance of the conductor in the initial automobile wire harness under different environmental temperatures, constructing a resistance change trend graph with temperature as the horizontal coordinate and resistance as the vertical coordinate, obtaining the resistance jump amplitude value by analyzing the resistance change trend graph, judging whether the initial automobile wire harness is electrically normally conducted according to the resistance and the resistance jump amplitude value, and if the initial automobile wire harness is electrically normally conducted, the initial automobile wire harness is assembled qualified, and if the initial automobile wire harness is not electrically normally conducted, the initial automobile wire harness is assembled unqualified.

2. The flexible wire harness intelligent assembly system of claim 1, wherein, The basic information data of the automobile wire harness raw material includes the number, color, cross-sectional area and length of the conductor.

3. The flexible wire harness intelligent assembly system of claim 2, wherein, The method of selecting matched conductors according to the read basic information data of the automobile wire harness raw material, cutting and terminal crimping the conductors, and obtaining an initial automobile wire harness includes: The taking and processing assembly is provided with an intelligent shelf terminal, the intelligent shelf terminal has L layers and M columns, each layer and column corresponds to a storage cell, and each storage cell stores conductors of different colors and cross-sectional areas; The taking personnel input the number, color and cross-sectional area of the conductors into the intelligent shelf terminal according to the basic information data of the automobile wire harness raw material, the intelligent shelf terminal opens the corresponding storage cell according to the input number, color and cross-sectional area, the taking personnel takes the conductors, and the conductors of the corresponding number, color and cross-sectional area are obtained; The conductors are cut into the corresponding length by a high-speed rotating blade, and the conductors of the corresponding number, color, cross-sectional area and length are obtained; The terminals are crimped onto the conductors of the corresponding number, color, cross-sectional area and length by a terminal machine, and the initial automobile wire harness is obtained.

4. The flexible wire harness intelligent assembly system of claim 3, wherein, The method of judging whether the terminal crimping position of the initial automobile wire harness is qualified by comparing the real physical coordinates includes: The initial automotive wiring harness is placed in the terminal crimping position detection area. The initial automotive wiring harness is photographed by a camera in the terminal crimping position detection area to obtain an image of the initial automotive wiring harness. The pixel coordinates of the terminal crimping center in the initial automotive wiring harness image are obtained. The pixel coordinates of the terminal crimping center are normalized to obtain the normalized pixel coordinates of the terminal crimping center of the initial automotive wiring harness. The pixel coordinates of the normalized terminal crimping center of the initial automotive wiring harness are converted into real physical coordinates, which include real physical horizontal coordinates and real physical vertical coordinates. Obtain the standard true physical coordinates, which include the standard true physical x-coordinate and the standard true physical y-coordinate. Subtract the standard true physical x-coordinate from the true physical x-coordinate of the initial vehicle wiring harness, and subtract the standard true physical y-coordinate from the true physical y-coordinate of the initial vehicle wiring harness. Square the two subtraction results respectively, add the two square results, and take the square root of the sum to obtain the difference between the true physical coordinates of the initial vehicle wiring harness and the standard true physical coordinates. A difference threshold is set. When the difference between the actual physical coordinates of the initial automotive wiring harness and the standard actual physical coordinates is greater than or equal to the difference threshold, the terminal crimping position of the initial automotive wiring harness is unqualified. Conversely, the terminal crimping position of the initial automotive wiring harness is qualified.

5. The flexible wire harness intelligent assembly system of claim 4, wherein, The method for obtaining standard true physical coordinates includes: Acquisition An automobile wire harness with a qualified terminal crimping position is acquired and recorded as a qualified crimping position automobile wire harness. The pixel coordinates of the terminal crimping center of the qualified crimping position automobile wire harness are normalized to obtain the pixel coordinates of the terminal crimping center of the normalized qualified crimping position automobile wire harness. The pixel coordinates of the terminal crimping center of the normalized qualified crimping position automobile wire harness are converted into real physical coordinates. Calculate the average of the true physical abscissa and true physical ordinate of the qualified automotive wiring harness at the crimping position. Use the average of the true physical abscissa of the qualified automotive wiring harness at the crimping position as the standard true physical abscissa, and use the average of the true physical ordinate of the qualified automotive wiring harness at the crimping position as the standard true physical ordinate.

6. The flexible wire harness intelligent assembly system of claim 5, wherein, The method for determining whether the terminal angle of the initial automotive wiring harness is qualified includes: Canny edge detection is performed on the initial automotive wiring harness image to obtain the contour edges of the terminals. The pixel coordinates of the upper left and upper right endpoints of the contour edges are obtained, including the horizontal and vertical coordinates. Based on the pixel coordinates of the upper left and upper right endpoints of the contour edges, the terminal angles of the initial automotive wiring harness are obtained through pixel angle transformation, specifically including: subtracting the pixel vertical coordinate of the right upper end point of the contour edge from the pixel vertical coordinate of the left upper end point of the contour edge, obtaining a first subtraction result, subtracting the pixel horizontal coordinate of the right upper end point of the contour edge from the pixel horizontal coordinate of the left upper end point of the contour edge, obtaining a second subtraction result, dividing the first subtraction result by the second subtraction result, performing an inverse tangent operation on the division result, multiplying the inverse tangent operation result by the result of the division of the pixel vertical coordinate of the right upper end point of the contour edge by the pixel vertical coordinate of the left upper end point of the contour edge, and multiplying the inverse tangent operation result by the result of the division of the pixel horizontal coordinate of the right upper end point of the contour edge by the pixel horizontal coordinate of the left upper end point of the contour edge, obtaining the terminal angle of the initial automobile wire harness. dividing the pixel vertical coordinate of the right upper end point of the contour edge by the pixel vertical coordinate of the left upper end point of the contour edge dividing the pixel horizontal coordinate of the right upper end point of the contour edge by the pixel horizontal coordinate of the left upper end point of the contour edge Acquisition An automobile wire harness with a qualified terminal angle is acquired, and is recorded as a qualified terminal angle automobile wire harness. An average value of the terminal angles of the qualified terminal angle automobile wire harness is acquired, and the average value of the terminal angles of the qualified terminal angle automobile wire harness is used as a standard terminal angle. Subtract the standard terminal angle from the initial automotive wiring harness terminal angle, and take the absolute value of the subtraction result to obtain the absolute value of the difference between the initial automotive wiring harness terminal angle and the standard terminal angle. Set a threshold for the absolute value of the difference. When the absolute value of the difference between the terminal angle of the initial automotive wiring harness and the standard terminal angle is greater than or equal to the threshold, the terminal angle of the initial automotive wiring harness is unqualified; otherwise, the terminal angle of the initial automotive wiring harness is qualified.

7. The flexible wire harness intelligent assembly system of claim 6, wherein, The method for determining whether the initial automotive wiring harness is electrically conductive based on the resistance and resistance jump amplitude includes: at temperatures of ℃, ℃, ℃,... ℃, , and are positive integers, respectively, a current is applied to each wire of the initial automobile wire harness, and the voltage of each wire of the initial automobile wire harness is measured, respectively, and the corresponding voltage is divided by the current to obtain the resistance of each wire of the initial automobile wire harness at temperatures of ℃, ℃, ℃,... ℃. The resistance range of the electrical conduction is set when normal, and if the temperature is ℃, ℃, ℃, ℃, the resistance of the wire in the initial automobile wire harness exceeds the resistance range of the electrical conduction when normal, and the electrical conduction of the initial automobile wire harness is not normal. If the temperature is ℃, ℃, ℃,... ℃, the resistance of the wire in the initial automobile wire harness does not exceed the resistance range when the electrical conduction is normal, and a resistance change trend graph is constructed. By analyzing the resistance change trend graph, the resistance jump amplitude value is obtained. A threshold value for the resistance jump amplitude value is set. When the resistance jump amplitude value is greater than or equal to the threshold value, the initial electrical conduction of the automotive wiring harness is abnormal; otherwise, the initial electrical conduction of the automotive wiring harness is normal.

8. The flexible wire harness intelligent assembly system of claim 7, wherein, The method for constructing the resistance change trend graph includes: A blank two-dimensional rectangular coordinate system is established, the horizontal coordinate of the blank two-dimensional rectangular coordinate system is set as temperature, the vertical coordinate of the blank two-dimensional rectangular coordinate system is set as resistance, and the resistance of the wire in the initial automobile wire harness at the temperature of ℃, ℃, ℃, …, ℃ is filled in the blank two-dimensional rectangular coordinate system to obtain a wire resistance mapping point, the wire resistance mapping points are sequentially connected through straight lines in the order of temperature from low to high to obtain a resistance change trend graph.

9. The flexible wire harness intelligent assembly system of claim 8, wherein, The method for obtaining the resistance jump amplitude value by analyzing the resistance change trend graph 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, 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, and record it as the secondary resistance horizontal axis parallel line. Obtain the area of ​​the rectangle enclosed by the parallel lines of the primary resistor's vertical axis, the primary resistor's horizontal axis, the secondary resistor's vertical axis, and the secondary resistor's horizontal axis. Use the area of ​​the rectangle as the resistance jump value of the wire resistance mapping point, until the last wire resistance mapping point is reached.

10. A flexible wire harness intelligent assembly control method applied to the flexible wire harness intelligent assembly system according to any one of claims 1 to 9, characterized in that, include: Step S1: Read the basic information data of automotive wiring harness raw materials; Step S2: Obtain the corresponding quantity, color, and cross-sectional area of ​​wires based on the basic information data of automotive wiring harness raw materials, cut the wires to obtain the corresponding quantity, color, cross-sectional area, and length of wires, and crimp the terminals of the corresponding quantity, color, cross-sectional area, and length of wires to obtain the initial automotive wiring harness. Step S3: 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. The terminal angle is detected by combining edge detection and line fitting to determine whether the terminal angle of the initial automotive wiring harness is qualified. Step S4: Perform electrical testing on the initial automotive wiring harness with qualified terminal crimping positions and terminal angles to determine whether the initial automotive wiring harness is electrically conductive. If the initial automotive wiring harness is electrically conductive, the initial automotive wiring harness assembly is qualified; if the initial automotive wiring harness is not electrically conductive, the initial automotive wiring harness assembly is unqualified.

Images