Automatic pin inserting method, device and equipment for connector, medium and program product

Abstract

The invention provides an automatic pin inserting method, device and equipment for a connector, a medium and a program product, and relates to the technical field of machine vision. The method includes: acquiring attribute data of a target connector, the attribute data including pose data of a pinhole in the target connector and a model of the target connector; the pose data of a target test pin is obtained, and the target test pin is a test pin matched with the model of the target connector; according to the pose data of the pinhole in the target connector and the pose data of the target test pin, evaluating a displacement error result of the target test pin; and according to the displacement error result of the target test pin, determining whether the target pin position needs to be adjusted. The wire harness reworking phenomenon can be effectively avoided, and the production efficiency and quality are improved.

Description

Background Art

[0002] An electrical connector is a device used to establish an electrical connection between circuits, which allows current to flow between two or more conductors. As an interconnect for transmitting power and signals in a system, electrical connectors are widely used in various industries such as aerospace systems, instrumentation, and rail transportation.

[0003] In the related art, the assembly of connectors is usually performed by manually visually identifying the position of connector points. Due to the characteristics of miniaturization and high density of connectors, the method of manually visually identifying the position of connector points is likely to cause visual fatigue of workers, resulting in a high error rate, which in turn easily affects the reliability and safety of cable harness assembly.

[0004] In addition, in recent years, in the fault detection of electrical connectors, the shrinkage of electrical connectors is more and more hidden and difficult to detect. Therefore, the proportion of shrinkage incidents in accidents has increased, which has had a serious impact on the normal operation of the system and the safety of personnel. Among them, insufficient contact retention force is the direct cause of pin withdrawal and shrinkage. Therefore, retention force detection is an important link in the detection process of electrical connector contacts.

[0005] In the related art, manual tools are usually used to test the pins. The worker holds the tool in hand to test each pin in turn. If the pin is found to retract before reaching the set force of the manual tool, the pin is deemed to be unqualified. However, in the actual production process, the manual inspection method still cannot avoid the phenomenon of unqualified pin products flowing out. First of all, whether the pin is retracted depends entirely on the subjective judgment of the worker, and there is no quantitative method. It may happen that the pin retracts very little, and the worker cannot directly feel it, which will cause unqualified products to flow out. Secondly, for products with a large number of pins, some pins may be missed in the test, which will also cause unqualified products to flow out. In addition, for some workers with greater hand strength, when the tool set torque is reached, they are prone to not paying attention to the prompt sound emitted by the tool. Continuing to test the pins may cause damage to the originally qualified products and cause unqualified products to flow out.

[0006] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0007] The present disclosure provides a connector automatic pin insertion method, device, equipment, medium and program product, which at least to a certain extent overcome the problems in the related art of being unable to accurately position the connector and being difficult to automatically detect the connector.

[0008] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present disclosure.

[0009] According to one aspect of the present disclosure, a connector automatic plug-in method is provided, comprising: acquiring attribute data of a target connector, wherein the attribute data includes posture data of a pinhole in the target connector and a model of the target connector; acquiring posture data of a target test pin, wherein the target test pin is a test pin that matches the model of the target connector; evaluating a displacement error result of the target test pin based on the posture data of the pinhole in the target connector and the posture data of the target test pin; and determining whether it is necessary to adjust the target plug-in position based on the displacement error result of the target test pin.

[0010] In some embodiments, the acquiring of the attribute data of the target connector includes: acquiring image data of the target connector; performing feature extraction on the image data of the target connector based on a preset image processing algorithm to obtain the coordinates of the pinhole in the target connector in a pre-constructed two-dimensional coordinate system and the model of the target connector; converting the coordinates of the pinhole in the target connector in the pre-constructed two-dimensional coordinate system into a pre-constructed three-dimensional coordinate system to obtain the position data of the pinhole in the target connector.

[0011] In some embodiments, obtaining the posture data of a target test needle includes: obtaining image data of the target test needle; performing feature extraction on the image data of the target test needle based on a preset image processing algorithm to obtain the coordinates of the target test needle in a pre-constructed two-dimensional coordinate system; converting the coordinates of the target test needle in the pre-constructed two-dimensional coordinate system into a pre-constructed three-dimensional coordinate system to obtain the posture data of the target test needle.

[0012] In some embodiments, the displacement error result of the target test pin is evaluated based on the posture data of the pinhole in the target connector and the posture data of the target test pin, including: converting the posture data of the pinhole in the target connector and the posture data of the target test pin to obtain the posture data of the pinhole in the target connector and the posture data of the target test pin in the same three-dimensional coordinate system; determining whether there is an error in the target pin position based on the converted posture data of the pinhole in the target connector and the posture data of the target test pin.

[0013] In some embodiments, determining whether the target pin position needs to be adjusted is based on the displacement error result of the target test pin, including: if there is an error in the target pin position, adjusting the target pin position to coincide with the position of the pinhole in the target connector.

[0014] In some embodiments, the method also includes: monitoring the insertion force value and insertion depth value of the target test needle; determining whether the insertion force value of the target test needle is greater than a preset force threshold; if so, stopping inserting the target test needle; if not, continuing to insert the target test needle until the insertion depth value reaches the preset depth threshold.

[0015] According to another aspect of the present disclosure, there is also provided an automatic connector pin insertion device, comprising: a connector data acquisition module, used to acquire attribute data of a target connector, wherein the attribute data includes the position data of a pinhole in the target connector and the model of the target connector; a test pin data acquisition module, used to acquire the position data of a target test pin, wherein the target test pin is a test pin that matches the model of the target connector; a displacement error result evaluation module, used to evaluate the displacement error result of the target test pin based on the position data of the pinhole in the target connector and the position data of the target test pin; and a pin position adjustment module, used to determine whether the target pin position needs to be adjusted based on the displacement error result of the target test pin.

[0016] According to another aspect of the present disclosure, an electronic device is also provided, which includes: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute any one of the above-mentioned connector automatic pin insertion methods by executing the executable instructions.

[0017] According to another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the automatic connector pin insertion method described in any one of the above is implemented.

[0018] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, wherein when the computer program is executed by a processor, the computer program implements any one of the above-mentioned methods for automatically inserting connector pins.

[0019] The connector automatic pin insertion method, device, equipment, medium and program product provided in the embodiments of the present disclosure first obtain the attribute data of the target connector, and then obtain the position data of the target test pin, and evaluate the error result of the displacement of the target test pin according to the position data of the pinhole in the target connector and the position data of the target test pin, and determine whether the pin insertion position of the target test pin needs to be adjusted according to the evaluation result. The embodiments of the present disclosure can effectively avoid the phenomenon of wire harness rework and improve production efficiency and quality.

[0020] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0022] FIG. 1( a ) shows a schematic diagram of the overall structure of an exemplary device to which the automatic connector pin insertion method according to an embodiment of the present disclosure can be applied;

[0023] FIG. 1( b ) shows a schematic diagram of the internal structure of an exemplary device using the connector automatic pin insertion method according to an embodiment of the present disclosure;

[0024] FIG1( c ) shows a schematic diagram of a control structure of an exemplary device for applying the connector automatic pin insertion method according to an embodiment of the present disclosure;

[0025] Figure 2 A flow chart of a connector automatic pin insertion method according to an embodiment of the present disclosure is shown;

[0026] Figure 3 A flow chart of a connector positioning method according to an embodiment of the present disclosure is shown;

[0027] Figure 4 A flow chart of a pin retention force detection method according to an embodiment of the present disclosure is shown;

[0028] Figure 5 A schematic diagram of an automatic connector pin insertion device according to an embodiment of the present disclosure is shown;

[0029] Figure 6 A structural block diagram of an electronic device in an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0030] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the disclosure will be more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0031] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0032] The specific implementation of the embodiment of the present disclosure is described in detail below with reference to the accompanying drawings.

[0033] Figure 1(a) shows a schematic diagram of the overall structure of an exemplary device that can be used for the automatic connector insertion method in the embodiment of the present disclosure. As shown in Figure 1(a), the device includes: a connector tray clamp 103, a text recognizer 104 and an audible and visual alarm 108.

[0034] Among them, the connector tray fixture 103 is used to fix and position the connector tray to ensure that the connector remains stable during testing or assembly. The connector is fixed by a pneumatic fixing clamp of a tooling plate to reduce manpower. Usually, the connector tray fixture 103 is designed as an adjustable fixture so that it can be quickly switched to adapt to connector trays of different sizes and types. It can fix multiple connectors of different or same specifications at the same time to improve efficiency. The text recognizer 104 is used to identify text information on connectors or other components, such as model numbers, batch numbers, etc. Usually, the text recognizer 104 can use optical character recognition OCR technology to capture images through a camera and perform text recognition more accurately. The sound and light alarm 108 is used to issue a sound and light alarm when an abnormal situation is detected to alert the operator. Usually, the sound and light alarm 108 includes an indicator light and a buzzer, which triggers an alarm when the system detects an error or requires maintenance.

[0035] In one embodiment of the present disclosure, the main body of the device is a rectangular frame structure. A vent can be provided at the bottom of the device for heat dissipation. Moving wheels can also be provided at the bottom of the device to facilitate the movement of the device.

[0036] In one embodiment of the present disclosure, a working area is provided inside the device for preventing and processing the connector. Specifically, FIG1(b) shows a schematic diagram of the internal structure of an exemplary device for applying the connector automatic pin insertion method in the embodiment of the present disclosure. As shown in FIG1(b), the device includes: a robot 101, a first camera 102, a connector tray fixture 103, a test needle and a quick-change disk 105, a test force sensor 106, a calibration force sensor 107, a light source controller 109 and a second camera 111.

[0037] In one embodiment of the present disclosure, the robot 101 may be a four-axis robot (i.e., a four-degree-of-freedom robot) for moving and positioning connectors or other components, and a second camera 111 and a test force sensor 106 are installed at the end of the robot arm. The type of connector is determined by taking photos, and the test needle and the quick-change disk 105 can be automatically replaced according to the type of connector. Among them, the second camera 111 is used to assist in shooting or provide multi-angle images; the test needle and the quick-change disk 105 are used for electrical testing, and various types of test needles are customized according to the type of connector, which can realize the positioning guidance and retention force test of various types of connectors; the test force sensor 106 is used to test the retention force of the connector.

[0038] In one embodiment of the present disclosure, the first camera 102 is used to capture images for visual inspection or quality control; the calibration force sensor 107 is used to calibrate the test force sensor 106 to ensure the accuracy and precision of the test force; and the light source controller 109 is used to control the light source to ensure clear images.

[0039] In one embodiment of the present disclosure, the visual system uses two cameras (a first camera 102 and a second camera 111) to work together to identify the connector type, point coordinates, and test needles, respectively, to ensure the accuracy of the device.

[0040] In one embodiment of the present disclosure, based on a visual system, a four-degree-of-freedom robotic arm and a vision sensor, it is possible to quickly and accurately help the operator find the correct connector position and automatically complete the connector shrinkage detection. The system uses multiple prompts such as images, indicator needles, audio and video to ensure accuracy in the entire connector assembly production process, which not only improves production speed and efficiency, but also avoids common assembly errors such as mismatching, misconnection, and missed connection. In terms of expansion, it can achieve detection during production, effectively avoid wire harness rework, and improve production efficiency and quality.

[0041] In one embodiment of the present disclosure, a control panel is provided on the front of the device for controlling the operation of the device. Specifically, FIG1(c) shows a schematic diagram of the control structure of an exemplary device for applying the connector automatic pin insertion method in an embodiment of the present disclosure. As shown in FIG1(c), the device includes: a connector tray fixture 103, a text recognizer 104 and a command button 110.

[0042] The command button 110 is used by an operator to manually control the operation of the device, including functions such as start, stop, and reset. Usually, the command button 110 may include multiple buttons, each corresponding to a different operation instruction.

[0043] Figure 2 A flow chart of a connector automatic pin insertion method according to an embodiment of the present disclosure is shown. Figure 2 As shown, the method comprises the following steps:

[0044] S202, acquiring attribute data of the target connector, wherein the attribute data includes position data of the pinhole in the target connector and the model of the target connector.

[0045] In one embodiment of the present disclosure, the target connector can be a connector to be tested that is manually installed on a tooling board in advance. The tooling board with the target connector installed is manually pushed into the test station to trigger the pneumatic clamps that fix the tooling board to clamp (i.e., the connector tray clamps mentioned above); the processing file that matches the tooling board is selected in the software, and the processing task is issued; after the processing flow is started, the software obtains the processing file information, obtains the connector information from it, and informs the robot of the camera position of the connector; the robot performs camera recognition to obtain the position data of the pinhole in the target connector and the model of the target connector.

[0046] S204, obtaining position data of a target test needle, wherein the target test needle is a test needle that matches the model of the target connector.

[0047] In one embodiment of the present disclosure, a target test pin is determined based on the model of the identified target connector, and photographed and identified by a robot to obtain position and posture data of the target test pin.

[0048] S206, evaluating the displacement error result of the target test needle according to the position and posture data of the pinhole in the target connector and the position and posture data of the target test needle.

[0049] In one embodiment of the present disclosure, in order to accurately insert the target test needle into the pinhole in the target connector, it is necessary to calculate whether the coordinate position of the pinhole in the target connector and the center coordinate position of the target test needle coincide with each other.

[0050] S208: Determine whether the target test pin position needs to be adjusted according to the displacement error result of the target test pin.

[0051] In one embodiment of the present disclosure, after calculating whether the coordinate position of the pinhole in the target connector and the center coordinate position of the target test pin coincide with each other, it is determined whether the center coordinate position of the target test pin (i.e., the pin position) needs to be moved according to the calculation result until the two coincide with each other.

[0052] As can be seen from the above, in the disclosed embodiment, the attribute data of the target connector is first obtained, and then the posture data of the target test pin is obtained, and the error result of the displacement of the target test pin is evaluated based on the posture data of the pinhole in the target connector and the posture data of the target test pin, and according to the evaluation result, it is determined whether the pin position of the target test pin needs to be adjusted. The disclosed embodiment can effectively avoid the rework of the wiring harness and improve production efficiency and quality.

[0053] In one embodiment of the present disclosure, the above S202 includes: acquiring image data of the target connector; performing feature extraction on the image data of the target connector based on a preset image processing algorithm to obtain the coordinates of the pinhole in the target connector in a pre-constructed two-dimensional coordinate system and the model of the target connector; converting the coordinates of the pinhole in the target connector in the pre-constructed two-dimensional coordinate system into a pre-constructed three-dimensional coordinate system to obtain the posture data of the pinhole in the target connector.

[0054] In one embodiment of the present disclosure, a first shooting position for shooting a connector can be pre-set, and can usually be set above or on the side of a workbench where the connector is placed to ensure that the camera can clearly capture the entire connector. At the same time, good lighting conditions should be ensured in the area to avoid shadows and reflections that affect the imaging quality, and there should be no other obstacles blocking the view, so that the camera can freely acquire high-quality images.

[0055] It should be noted that the shooting position can be determined according to actual conditions, and the embodiments of the present disclosure do not specifically limit this.

[0056] In one embodiment of the present disclosure, when the robot reaches a first preset shooting position, the camera is triggered to capture an image containing a target connector; the image is preprocessed through a preset image processing algorithm, for example, noise can be removed, contrast can be improved, and an edge detection algorithm can be used to highlight the contour and other features of the connector; features of the target connector are extracted, and the position of the target connector in a two-dimensional coordinate system is calculated based on the obtained connector features, and converted into a three-dimensional coordinate system in combination with camera parameters to obtain the pose data of the target connector, including information such as the position of the target connector in the three-dimensional coordinate system and the rotation angle of the connector, thereby obtaining the pose data of the pinhole in the target connector.

[0057] In one embodiment of the present disclosure, there are multiple ways to obtain the model of the target connector. For example, one or more standard template images can be created for multiple connector models in advance, and the captured image of the target connector is matched with each template image, and the matching degree is evaluated to obtain the closest template as the recognition result; feature data of multiple connector models can also be pre-stored, and the extracted features can be matched with the pre-stored feature data to obtain the best match; a pre-trained deep learning model can also be used to predict the model of the target connector.

[0058] It should be noted that the above method for obtaining the model of the target connector is only exemplary, and any acquisition method can be adopted according to actual conditions, and the embodiments of the present disclosure do not specifically limit this.

[0059] In one embodiment of the present disclosure, the above S204 includes: acquiring image data of the target test needle; performing feature extraction on the image data of the target test needle based on a preset image processing algorithm to obtain the coordinates of the target test needle in a pre-constructed two-dimensional coordinate system; converting the coordinates of the target test needle in the pre-constructed two-dimensional coordinate system into a pre-constructed three-dimensional coordinate system to obtain the position and posture data of the target test needle.

[0060] In one embodiment of the present disclosure, a second shooting position for photographing the test needle can be pre-set to ensure that the camera can clearly capture the entire test needle. At the same time, it should be ensured that the area has good lighting conditions to avoid shadows and reflections affecting the imaging quality, and there are no other obstacles blocking the view, so that the camera can freely obtain high-quality images.

[0061] It should be noted that the shooting position can be determined according to actual conditions, and the embodiments of the present disclosure do not specifically limit this.

[0062] In one embodiment of the present disclosure, when the robot reaches a second preset shooting position, the camera is triggered to capture an image containing a target test needle; the image is preprocessed through a preset image processing algorithm, for example, operations such as removing noise and improving contrast can be performed, and an edge detection algorithm can also be used to highlight the outline and other features of the test needle; by extracting features of the target test needle, the position of the target test needle in a two-dimensional coordinate system is calculated based on the obtained test needle features, and combined with the camera parameters, it is converted into a three-dimensional coordinate system to obtain the position and posture data of the target test needle, that is, including information such as the center coordinate position of the target test needle in the three-dimensional coordinate system and the rotation angle of the test needle.

[0063] In one embodiment of the present disclosure, the models of test pins corresponding to connectors of various models can be acquired in advance, and the matching relationship can be stored in a database, so that after the model of the target connector is acquired, the model of the target test pin can be directly obtained according to the matching relationship in the database.

[0064] In one embodiment of the present disclosure, different pallet fixtures, force measuring heads and connector databases are configured according to the connector type to automatically perform connector point positioning and subsequent pin shrinkage detection, which can meet the detection requirements of connectors of different types and sizes, improve the intelligence level of connector manufacturing, and can be widely used in various types of connector point search and pin shrinkage detection.

[0065] In one embodiment of the present disclosure, the above S206 includes: converting the posture data of the pinhole in the target connector and the posture data of the target test pin to obtain the posture data of the pinhole in the target connector and the posture data of the target test pin in the same three-dimensional coordinate system; determining whether there is an error in the target pin position based on the converted posture data of the pinhole in the target connector and the posture data of the target test pin.

[0066] In one embodiment of the present disclosure, since the shooting positions of the target connector and the target test needle (i.e., the first preset shooting position and the second preset shooting position) may be different, the three-dimensional coordinate systems corresponding to the position information of the two may be different. First, it is necessary to convert the posture data of the pinhole in the target connector and the posture data of the target test needle, and unify the two in the same coordinate system; then, based on the posture data of the two, calculate the spatial distance that the test needle needs to move and the direction in which the test needle may need to be rotated and adjusted.

[0067] In one embodiment of the present disclosure, the above S208 includes: if there is an error in the target pin position, adjusting the target pin position to coincide with the position of the pinhole in the target connector.

[0068] In one embodiment of the present disclosure, the method also includes: monitoring the insertion force value and the insertion depth value of the target test needle; determining whether the insertion force value of the target test needle is greater than a preset force threshold; if so, stopping inserting the target test needle; if not, continuing to insert the target test needle until the insertion depth value reaches the preset depth threshold.

[0069] In one embodiment of the present disclosure, when the test needle has not reached the preset depth threshold, the needle insertion force value is monitored in real time. When it is monitored that the needle insertion force value exceeds the preset force threshold, the insertion is stopped immediately, and the needle insertion force value and the needle insertion depth value at that moment are captured to determine that the pin test is abnormal and there is a needle retraction phenomenon.

[0070] In one embodiment of the present disclosure, when the test needle reaches the preset depth threshold and the needle insertion force value is still not monitored to exceed the preset force threshold, the preset depth threshold is maintained for a preset time length, the needle insertion force value and the needle insertion depth value at this moment are read, and it is determined that the pin test result is normal, and the test is completed.

[0071] In one embodiment of the present disclosure, an unmanufactured connector is placed in a tray fixture, the visual positioning system is started, the wire number is scanned manually using a terminal scanning device, the robot automatically inserts the positioning pointer into the connector prompt point hole, and the terminal is manually inserted into the corresponding point of the connector. After the connector is manufactured, all connector shrinkage detection in the connector tray fixture is completed at one time.

[0072] Figure 3A flow chart of a connector positioning method in an embodiment of the present disclosure is shown. Figure 3 As shown, the method comprises the following steps:

[0073] S301, start the automatic test program through the command button.

[0074] In one embodiment of the present disclosure, before the above S301, the operator installs the connector to be tested on the tooling board, and then pushes the tooling board with the connector to be tested into the test station, triggering the tooling board fixing pneumatic clamp to clamp the tooling board (i.e., the above connector tray clamp). In addition, it is necessary to select the processing file matching the tooling board in the software, and set the relevant parameters to release the processing flow.

[0075] S302, the robot moves to a preset connector shooting position (i.e., the first preset shooting position mentioned above), takes a picture of the connector to be tested, and identifies the position and posture data of the connector to be tested.

[0076] In one embodiment of the present disclosure, before the above S302, the software obtains the processing file information, obtains the connector information therefrom, and sends the connector shooting position to the robot. The robot triggers the light source and the camera to take pictures, and identifies the posture data and model of the connector to be tested. Specifically, the posture data includes the position data of the pinhole in the connector to be tested and the posture data of the connector to be tested.

[0077] S303, the robot obtains a quick-change disk with a target test needle installed in the quick-change disk temporary storage area.

[0078] In one embodiment of the present disclosure, according to the model of the connector to be tested, the robot quickly replaces the appropriate target test pin from the quick-change tray.

[0079] S304, the robot carries the target test needle quick-change tray and moves to the test needle shooting position (ie, the above-mentioned second preset shooting position), takes a picture of the target test needle, and identifies the position and posture data of the target test needle.

[0080] In one embodiment of the present disclosure, the robot moves the target test needle quick-change disk to the test needle shooting position according to the pre-received test needle shooting position, triggers the light source and the camera to take pictures, and identifies the position data of the target test needle. Specifically, the position data of the target test needle includes the target test needle center coordinate data and the target test needle posture data.

[0081] In one embodiment of the present disclosure, the test needle shooting position can be the position written into the robot before the program starts, or it can be sent to the robot during the process execution. It should be noted that the embodiment of the present disclosure does not specifically limit the time when the robot receives the test needle shooting position.

[0082] S305, obtaining the scanned cable model information, and searching for the corresponding pin number from a preset database.

[0083] In one embodiment of the present disclosure, after being prompted by the system, the operator can use a handheld OCR-based text recognizer to scan the model information on the cable to determine the pin number on the connector corresponding to the cable.

[0084] In one embodiment of the present disclosure, there may be multiple pins on the connector, each pin having a pin number. The matching relationship between the pin number of each pin and the corresponding cable model can be stored in a database in advance, so that the pin number corresponding to the cable model obtained by scanning can be directly determined.

[0085] S306, the robot aligns the test needle with the target pinhole corresponding to the pin number, and penetrates the test needle into the back of the connector.

[0086] In one embodiment of the present disclosure, the pin may be highlighted on the display screen to prompt the operator to insert the cable into the corresponding point of the connector.

[0087] S307, sending a wire insertion prompt signal.

[0088] In one embodiment of the present disclosure, a wire insertion prompt signal is used to prompt an operator to perform a cable insertion action.

[0089] S308, receiving the test needle retraction signal, the robot carries the test needle out of the target pinhole.

[0090] S309, receiving a manual needle threading completion signal.

[0091] S310, determine whether the current connector has been threaded. If yes, execute S311; if no, execute S305.

[0092] S311, determine whether all connectors in the current processing file have been processed. If yes, end the processing flow; if no, execute S302 to continue processing the next connector.

[0093] Figure 4 A flow chart of a pin retention force detection method according to an embodiment of the present disclosure is shown. Figure 4 As shown, the method comprises the following steps:

[0094] S401, start the automated test program through the command button.

[0095] In one embodiment of the present disclosure, before the above S401, the operator installs the connector to be tested on the tooling board, and then pushes the tooling board with the connector to be tested into the test station, triggering the tooling board fixing pneumatic clamp to clamp the tooling board (i.e. the above connector tray clamp). In addition, it is necessary to select the processing file matching the tooling board in the software and set the relevant parameters to release the processing flow.

[0096] S402, the robot moves to a preset connector shooting position (i.e., the first preset shooting position mentioned above), takes a picture of the connector to be tested, and identifies the position and posture data of the connector to be tested.

[0097] In one embodiment of the present disclosure, before the above S402, the software obtains the processing file information, obtains the connector information therefrom, and sends the connector shooting position to the robot. The robot triggers the light source and the camera to take pictures, and identifies the posture data and model of the connector to be tested. Specifically, the posture data includes the position data of the pinhole in the connector to be tested and the posture data of the connector to be tested.

[0098] S403, the robot obtains a quick-change disk with a target test needle installed in the quick-change disk temporary storage area.

[0099] In one embodiment of the present disclosure, according to the model of the connector to be tested, the robot quickly replaces the appropriate target test pin from the quick-change tray.

[0100] S404, the robot carries the target test needle quick-change tray and moves to the test needle shooting position (ie, the second preset shooting position mentioned above), takes a picture of the target test needle, and identifies the position and posture data of the target test needle.

[0101] In one embodiment of the present disclosure, the robot moves the target test needle quick-change disk to the test needle shooting position according to the pre-received test needle shooting position, triggers the light source and the camera to take pictures, and identifies the position data of the target test needle. Specifically, the position data of the target test needle includes the target test needle center coordinate data and the target test needle posture data.

[0102] S405, calculating the coordinates of the overlapped position according to the posture data of the connector to be tested and the posture data of the target test pin, and transmitting the coordinate error to the robot.

[0103] In one embodiment of the present disclosure, the distance between the center coordinates of the target test pin and the coordinates of the pinhole in the connector to be tested is calculated, and the obtained distance is transmitted to the robot as a coordinate error.

[0104] S406, the robot carries the target test needle and moves to the target pin position, aligning it with the pinhole position in the connector to be tested.

[0105] S407, the robot inserts the target test needle into the needle hole and monitors the feedback force value of the test force sensor in real time.

[0106] S408, when the insertion depth does not reach the preset depth threshold, determine whether the monitored force value exceeds the preset force threshold. If yes, execute S409; if no, execute S410.

[0107] S409, the test needle stops inserting immediately, and captures the force value and depth value at that moment.

[0108] S410, the test needle continues to be inserted until the insertion depth value reaches a preset depth threshold.

[0109] S411, maintaining a preset time period, and reading the force value and depth value at that moment.

[0110] S412, the robot returns to a safe position and feeds back the test results.

[0111] In one embodiment of the present disclosure, the force value and depth value at the current moment obtained after executing the above S409 or S411 can be matched with the test result obtained after executing S412 to form a training set, and the robot can be trained so that the robot can more accurately insert the target test needle into the pinhole of the connector to be tested, thereby improving the efficiency of needle shrinkage detection.

[0112] S413, determining whether all the pins of the connector to be tested have been tested. If yes, executing S414; if no, executing S403.

[0113] S414, judging whether all connectors in the current processing file have been processed. If yes, the processing flow ends; if no, executing S402.

[0114] Based on the same inventive concept, the present disclosure also provides an automatic connector pin insertion device, as described in the following embodiments. Since the principle of solving the problem in the device embodiment is similar to that in the above method embodiment, the implementation of the device embodiment can refer to the implementation of the above method embodiment, and the repeated parts will not be repeated.

[0115] Figure 5 A schematic diagram of an automatic connector pin insertion device according to an embodiment of the present disclosure is shown. Figure 5 As shown, the device includes: a connector data acquisition module 501, a test pin data acquisition module 502, a displacement error result evaluation module 503 and a pin position adjustment module 504.

[0116] Among them, the connector data acquisition module 501 is used to obtain the attribute data of the target connector, wherein the attribute data includes the posture data of the pinhole in the target connector and the model of the target connector; the test pin data acquisition module 502 is used to obtain the posture data of the target test pin, wherein the target test pin is a test pin that matches the model of the target connector; the displacement error result evaluation module 503 is used to evaluate the displacement error result of the target test pin based on the posture data of the pinhole in the target connector and the posture data of the target test pin; the pin position adjustment module 504 is used to determine whether the target pin position needs to be adjusted based on the displacement error result of the target test pin.

[0117] As can be seen from the above, in the disclosed embodiment, the attribute data of the target connector is first obtained, and then the posture data of the target test pin is obtained, and the error result of the displacement of the target test pin is evaluated based on the posture data of the pinhole in the target connector and the posture data of the target test pin, and according to the evaluation result, it is determined whether the pin position of the target test pin needs to be adjusted. The disclosed embodiment can effectively avoid the rework of the wiring harness and improve production efficiency and quality.

[0118] In one embodiment of the present disclosure, the above-mentioned connector data acquisition module 501 is also used to acquire image data of the target connector; based on a preset image processing algorithm, feature extraction is performed on the image data of the target connector to obtain the coordinates of the pinhole in the target connector in a pre-constructed two-dimensional coordinate system and the model of the target connector; the coordinates of the pinhole in the target connector in the pre-constructed two-dimensional coordinate system are converted into a pre-constructed three-dimensional coordinate system to obtain the position data of the pinhole in the target connector.

[0119] In one embodiment of the present disclosure, the above-mentioned test needle data acquisition module 502 is also used to obtain image data of the target test needle; based on a preset image processing algorithm, feature extraction is performed on the image data of the target test needle to obtain the coordinates of the target test needle in a pre-constructed two-dimensional coordinate system; the coordinates of the target test needle in the pre-constructed two-dimensional coordinate system are converted to a pre-constructed three-dimensional coordinate system to obtain the position and posture data of the target test needle.

[0120] In one embodiment of the present disclosure, the above-mentioned displacement error result evaluation module 503 is also used to convert the posture data of the pinhole in the target connector and the posture data of the target test pin to obtain the posture data of the pinhole in the target connector and the posture data of the target test pin in the same three-dimensional coordinate system; according to the converted posture data of the pinhole in the target connector and the posture data of the target test pin, determine whether there is an error in the target pin position.

[0121] In one embodiment of the present disclosure, the pin position adjustment module 504 is further configured to adjust the target pin position to coincide with the position of the pinhole in the target connector if there is an error in the target pin position.

[0122] In one embodiment of the present disclosure, the device also includes: a pin testing module 505, which is used to monitor the pin insertion force value and the pin insertion depth value of the target test pin; determine whether the pin insertion force value of the target test pin is greater than a preset force threshold; if so, stop inserting the target test pin; if not, continue inserting the target test pin until the pin insertion depth value reaches the preset depth threshold.

[0123] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0124] Refer to the following Figure 6 The electronic device 600 according to this embodiment of the present disclosure is described. Figure 6 The electronic device 600 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0125] like Figure 6 As shown, the electronic device 600 is in the form of a general computing device. The components of the electronic device 600 may include but are not limited to: at least one processing unit 610, at least one storage unit 620, and a bus 630 connecting different system components (including the storage unit 620 and the processing unit 610).

[0126] Among them, the storage unit stores a program code, and the program code can be executed by the processing unit 610, so that the processing unit 610 executes the steps described in the above "Exemplary Method" section of this specification according to various exemplary embodiments of the present disclosure. For example, the processing unit 610 can execute the following steps of the above method embodiment: obtain the attribute data of the target connector, wherein the attribute data includes the posture data of the pinhole in the target connector and the model of the target connector; obtain the posture data of the target test pin, wherein the target test pin is a test pin that matches the model of the target connector; evaluate the displacement error result of the target test pin based on the posture data of the pinhole in the target connector and the posture data of the target test pin; determine whether the target pin position needs to be adjusted based on the displacement error result of the target test pin.

[0127] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0128] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0129] Bus 630 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0130] The electronic device 600 may also communicate with one or more external devices 640 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 600, and / or communicate with any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 650. Furthermore, the electronic device 600 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 660. As shown, the network adapter 660 communicates with other modules of the electronic device 600 via a bus 630. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0131] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0132] Based on the same inventive concept, the embodiment of the present disclosure also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, any one of the above-mentioned connector automatic pin insertion methods is implemented. Since the principle of solving the problem in the embodiment of the computer-readable storage medium is similar to that in the above-mentioned method embodiment, the implementation of the embodiment of the computer-readable storage medium can refer to the implementation of the above-mentioned method embodiment, and the repeated parts will not be repeated.

[0133] More specific examples of computer-readable storage media in the present disclosure may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0134] In the present disclosure, a computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, wherein a readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A readable signal medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0135] Alternatively, the program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0136] In a specific implementation, the program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0137] Based on the same inventive concept, a computer program product is also provided in the embodiment of the present disclosure, including a computer program product, including: a computer program or an instruction, wherein when the computer program or the instruction is executed by a processor, the connector automatic pin insertion method of any one of the above method embodiments is implemented. Since the principle of solving the problem in the computer program product embodiment is similar to that in the above method embodiment, the implementation of the computer program product embodiment can refer to the implementation of the above method embodiment, and the repeated parts will not be repeated.

[0138] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0139] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0140] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0141] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A connector automatic pin insertion method, characterized in that: include: Acquire attribute data of the target connector, wherein the attribute data includes position data of the pinhole in the target connector and the model of the target connector; Acquire position data of a target test pin, wherein the target test pin is a test pin that matches the model of the target connector; Evaluate the displacement error result of the target test pin according to the position and posture data of the pinhole in the target connector and the position and posture data of the target test pin; According to the displacement error result of the target test pin, it is determined whether the target pin position needs to be adjusted.

2. The connector automatic pin insertion method according to claim 1, characterized in that: The step of obtaining the attribute data of the target connector includes: Obtain image data of the target connector; Based on a preset image processing algorithm, feature extraction is performed on the image data of the target connector to obtain the coordinates of the pinhole in the target connector in a pre-constructed two-dimensional coordinate system and the model of the target connector; The coordinates of the pinhole in the target connector in a pre-constructed two-dimensional coordinate system are converted into a pre-constructed three-dimensional coordinate system to obtain the position and posture data of the pinhole in the target connector.

3. The connector automatic pin insertion method according to claim 1, characterized in that: The step of obtaining the position and posture data of the target test needle includes: Acquire image data of a target test needle; Based on a preset image processing algorithm, feature extraction is performed on the image data of the target test needle to obtain the coordinates of the target test needle in a pre-constructed two-dimensional coordinate system; The coordinates of the target test needle in the pre-constructed two-dimensional coordinate system are converted into the pre-constructed three-dimensional coordinate system to obtain the position and posture data of the target test needle.

4. The connector automatic pin insertion method according to claim 1, characterized in that: According to the position and posture data of the pinhole in the target connector and the position and posture data of the target test pin, a displacement error result of the target test pin is evaluated, including: The position and posture data of the pinhole in the target connector and the position and posture data of the target test needle are converted to obtain the position and posture data of the pinhole in the target connector and the position and posture data of the target test needle in the same three-dimensional coordinate system; Based on the converted pose data of the pinhole in the target connector and the pose data of the target test pin, determine whether there is an error in the target pin position.

5. The connector automatic pin insertion method according to claim 4, characterized in that: Determining whether to adjust the target pin position according to the displacement error result of the target test pin includes: If there is an error in the target pin position, the target pin position is adjusted to coincide with the position of the pinhole in the target connector.

6. The connector automatic pin insertion method according to claim 1, characterized in that: The method further comprises: Monitor the insertion force and insertion depth of the target test pin; Determine whether the insertion force value of the target test pin is greater than a preset force threshold; If yes, then stop inserting the target test needle; If not, continue inserting the target test needle until the needle insertion depth value reaches a preset depth threshold.

7. A connector automatic pin insertion device, characterized in that: include: A connector data acquisition module, used to acquire attribute data of a target connector, wherein the attribute data includes position data of a pinhole in the target connector and a model of the target connector; A test pin data acquisition module, used to acquire position data of a target test pin, wherein the target test pin is a test pin that matches the model of the target connector; A displacement error result evaluation module, used to evaluate the displacement error result of the target test pin according to the position and posture data of the pinhole in the target connector and the position and posture data of the target test pin; The pin position adjustment module is used to determine whether the target pin position needs to be adjusted according to the displacement error result of the target test pin.

8. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to execute the connector automatic pin insertion method according to any one of claims 1 to 6 by executing the executable instructions.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the connector automatic pin insertion method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising: A computer program or instruction, characterized in that when the computer program or instruction is executed by a processor, the connector automatic pin insertion method described in any one of claims 1 to 6 is implemented.

Images