Multi-core cable arranging method and system applying robot

Abstract

The invention discloses a multi-core cable arranging method and system applying a robot, and relates to the field of cable manufacturing. The method is applied to a flat cable robot control system and comprises the following steps: acquiring a projection curve of a to-be-processed cable core; identifying abnormal segments in the projection curve; the performance parameters of the abnormal segments are matched with a preset wire arrangement table, the winding standard of the multi-core cable corresponding to the abnormal segments is obtained, and the winding standard comprises the twisting angle and the pitch; performing difference value calculation on the winding standard of the multi-core cable corresponding to the abnormal segment and the winding standard of the to-be-processed multi-core cable to obtain a twisting angle difference value and a pitch difference value; according to the twisting angle difference value and the pitch difference value, determining a wire arrangement strategy of the abnormal segment; and when the abnormal segments start to be subjected to wire arrangement, the feeding speed and the wire arrangement tension of the wire arrangement mechanism to the to-be-processed wire core are controlled according to the wire arrangement strategy. By implementing the technical scheme provided by the invention, the problem that the processing quality of the multi-core cable is reduced due to error accumulation of the wire cores is solved.

Description

Technical Field

[0001] The present application relates to the technical field of cable manufacturing, and specifically relates to a multi-core cable laying method and system applying a robot. Background Art

[0002] With the development of intelligence, ordinary cables gradually cannot meet the requirements of diverse functions of current devices; therefore, a multi-core cable composed of multiple insulated wire cores stranded around a central axis has been developed, where each insulated wire core can have different functions, and it is very suitable for current industrial automation control systems that need to transmit multiple signals or electric powers simultaneously.

[0003] When manufacturing multi-core cables, in order to ensure their good mechanical properties and strong electromagnetic interference resistance, it is necessary to strictly control the stranding angle and pitch of the multi-core cable. The currently adopted method is generally concentric stranding technology, which first arranges multiple wire cores, and then inputs them into a stranding device, so that the stranding device strands multiple wire cores around the central axis into an integrated multi-core cable. Among them, the feeding speed and feeding tension of the wire cores are controlled by a laying robot to meet the requirements of the stranding angle and pitch of the multi-core cable.

[0004] However, in the actual processing environment, the processing quality of the wire cores themselves is not completely consistent, and the laying robot generally arranges the wire cores according to a unified laying standard, which makes the errors of the wire cores themselves accumulate continuously during the continuous processing of the multi-core cable, resulting in a decline in the processing quality of the multi-core cable. Summary of the Invention

[0005] Aiming at the problem that the processing quality of multi-core cables decreases due to the accumulation of errors in the wire cores themselves, the present application provides a multi-core cable laying method and system applying a robot.

[0006] In a first aspect, the present application provides a multi-core cable laying method applying a robot, which is applied to a laying robot control system. The method includes: Obtain the projection curve of the wire core to be processed; Identify the abnormal segments in the projection curve; Match the performance parameters of the abnormal segments with a preset laying table to obtain the winding standard of the multi-core cable corresponding to the abnormal segments, where the winding standard includes the stranding angle and pitch; Calculate the difference between the winding standard of the multi-core cable corresponding to the abnormal segments and the winding standard of the multi-core cable to be processed to obtain the stranding angle difference and pitch difference; Determine the laying strategy of the abnormal segments according to the stranding angle difference and the pitch difference, where the laying strategy includes feeding speed compensation and laying tension compensation; When starting to arrange the wires of the abnormal segment, according to the wire arrangement strategy, control the feeding speed and wire arrangement tension of the wire core to be processed by the wire arrangement mechanism.

[0007] Optionally, the identification of the abnormal segment in the projection curve is specifically: Convert the projection curve into multiple feature curves, and the multiple feature curves include a slope curve, a variance curve, and a curvature curve; Perform differential operations on the multiple feature curves respectively to obtain multiple differential curves; Perform abnormal identification on the multiple differential curves respectively to obtain the abnormal segment.

[0008] Optionally, the performing differential operations on the multiple feature curves respectively to obtain multiple differential curves specifically further includes: Perform entropy value operation on the data points in the first feature curve to obtain an entropy value curve, where the first feature curve is any one of the multiple feature curves; Calculate the weight curve of the first feature curve according to the entropy value curve; Based on the weight curve, perform weighted difference on the first feature curve to obtain a differential curve.

[0009] Optionally, the determining the wire arrangement strategy of the abnormal segment according to the stranding angle difference and the pitch difference is specifically: Obtain the basic parameters of the wire arrangement device, the basic parameters of the abnormal segment, and the basic parameters of the multi-core cable. The basic parameters of the wire arrangement device include a preset wire arrangement tension and a preset feeding speed; Calculate the feeding speed compensation amount of the abnormal segment according to the basic parameters of the wire arrangement device, the stranding angle difference, the pitch difference, and the basic parameters of the multi-core cable; Calculate the wire arrangement tension compensation amount of the abnormal segment according to the basic parameters of the abnormal segment, the stranding angle difference, the pitch difference, the feeding speed compensation amount, and the basic parameters of the multi-core cable; Add the preset feeding speed and the feeding speed compensation amount to obtain the feeding speed strategy; Add the preset wire arrangement tension and the wire arrangement tension compensation amount to obtain the wire arrangement tension strategy.

[0010] Optionally, the calculating the feeding speed compensation amount of the abnormal segment according to the basic parameters of the wire arrangement device, the stranding angle difference, the pitch difference, and the basic parameters of the multi-core cable is specifically: Wherein, is the feed rate compensation amount, is the pitch difference, is the target pitch of the wire core to be processed, is the preset feed rate, is the stranding angle difference, is the target stranding angle, is the rotation speed of the winding device, and r is the stranding radius of the multi-core cable.

[0011] Optionally, the wire arrangement tension compensation amount of the abnormal segment is calculated according to the basic parameters of the abnormal segment, the stranding angle difference, the pitch difference, the feed rate compensation amount, and the basic parameters of the multi-core cable, specifically: Among them, is the wire arrangement tension compensation amount, is the feed rate compensation amount, is the preset wire arrangement tension, is the wire arrangement tension-stranding angle coupling coefficient, and k is the wire core deformation compensation coefficient.

[0012] Optionally, after controlling the feed rate and wire arrangement tension of the wire core to be processed according to the wire arrangement strategy, the following is further included: Detect the actual winding parameters of the wire core to be processed, and the actual winding parameters include the actual stranding angle and the actual pitch; Evaluate the actual winding parameters based on the winding standard of the multi-core cable to be processed to obtain a winding effect score; If the winding effect score is greater than or equal to the preset score threshold, store the corresponding relationship between the wire arrangement strategy of the wire core to be processed and the performance parameters of the wire core to be processed in the preset wire arrangement strategy table, so as to provide a reliable wire arrangement strategy for the subsequent wire arrangement of the wire arrangement robot control system.

[0013] In a second aspect, the present application provides a multi-core cable wire arrangement system applied to a robot. The system is a wire arrangement robot control system, including an acquisition module, a processing module, and an execution module, where: The acquisition module is used to acquire the projection curve of the wire core to be processed; The processing module is configured to identify abnormal segments in the projection curve; match the performance parameters of the abnormal segments with a preset wire arrangement table to obtain the winding standard of the multi-core cable corresponding to the abnormal segments, where the winding standard includes the stranding angle and the pitch; calculate the difference between the winding standard of the multi-core cable corresponding to the abnormal segments and the winding standard of the multi-core cable to be processed to obtain the stranding angle difference and the pitch difference; and determine the wire arrangement strategy for the abnormal segments according to the stranding angle difference and the pitch difference, where the wire arrangement strategy includes the feed speed compensation and the wire arrangement tension compensation. The execution module is configured to control the feed speed and the wire arrangement tension of the wire core to be processed by the wire arrangement mechanism according to the wire arrangement strategy when starting to arrange wires for the abnormal segments.

[0014] In a third aspect, the present application provides an electronic device, including a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes the method according to any one of the first aspect.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium storing instructions, which when executed, execute the method according to any one of the first aspect.

[0016] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. The present application uses the projection method to obtain the projection curve of the wire core to be processed, so as to magnify the size parameters of the wire core to be processed and improve the recognition accuracy of the abnormal segments of the wire core to be processed. The abnormal segments in the present application refer to the wire core segments with a processing error greater than 0. At this time, during the continuous processing of these abnormal segments, their errors will continue to accumulate, resulting in a decline in the processing quality of the multi-core cable. Therefore, the present application matches these abnormal segments with a preset wire arrangement table to find the corresponding wire arrangement standard (stranding angle and pitch) of the abnormal segments, and then calculates the difference between the winding standard of the abnormal segments and the preset winding standard (the wire arrangement standard of the current multi-core cable) to obtain the deviation amount of the abnormal segments during the winding process. Then, according to this deviation amount, the feed speed compensation and the wire arrangement tension compensation of the abnormal segments during the wire arrangement process are calculated, so as to make up for the errors of the abnormal segments during the processing process, and further improve the processing quality of the multi-core cable.

[0017] 2. When identifying abnormal segments in the projection curve, although the core to be processed itself meets the processing requirements, there may be certain processing errors (errors within the error range), and such processing errors are extremely small and may manifest as non-linear or hidden features, making it difficult to effectively capture them. Therefore, in this application, the projection curve is converted into multiple feature curves, such as slope curves, variance curves, and curvature curves, etc., so as to convert the complex high-dimensional projection curve into a simple and easy-to-analyze low-dimensional feature curve. Then, differential operations are performed on multiple feature curves respectively to obtain multiple differential curves, thereby highlighting the hidden features in the projection curve. Finally, the corresponding abnormal segments are extracted from multiple differential curves respectively, and then statistically analyzed and integrated to obtain the abnormal segments in the projection curve, so as to effectively capture the non-linear or hidden features in the projection curve. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic flowchart of a multi-core cable wiring method using a robot provided by an embodiment of the present application.

[0019] Figure 2 is a schematic structural diagram of a multi-core cable wiring system using a robot provided by an embodiment of the present application.

[0020] Figure 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0021] Description of the reference numerals: 1, acquisition module; 2, processing module; 3, execution module; 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0023] In the description of the embodiments of the present application, words such as "for example" or "for illustration" are used to indicate examples, illustrations, or explanations. Any embodiment or design solution described as "for example" or "for illustration" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, the use of words such as "for example" or "for illustration" is intended to present relevant concepts in a specific manner.

[0024] In the description of the embodiments of the present application, the term "plurality" means two or more. For example, a plurality of systems means two or more systems, and a plurality of screen terminals means two or more screen terminals. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. The terms "comprise", "include", "have" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0025] When manufacturing a multi-core cable, in order to ensure its good mechanical properties and strong electromagnetic interference resistance, the stranding angle and pitch of the cable must be strictly controlled. At present, concentric stranding technology is generally used to achieve this goal. This technology first precisely arranges multiple wire cores, and then uses a stranding device to strand these wire cores around the central axis into an integral multi-core cable. In this process, generally, a wire arranging robot is required to control the feeding speed and feeding tension of the wire cores to ensure that the stranding angle and pitch of the multi-core cable meet the design requirements.

[0026] However, in the actual production environment, there are often certain differences in the processing quality of the wire cores. At this time, although the size parameters of the wire cores meet the processing requirements, their size parameters may fluctuate within the error range; while the wire arranging robot usually operates according to a unified wire arranging standard. This standardized operation will cause the accumulation of errors when facing inconsistent wire core quality; specifically, the small differences in the wire cores will gradually amplify during the continuous processing process and ultimately affect the overall quality of the multi-core cable.

[0027] To solve the above problems, the present application provides a method for arranging wires of a multi-core cable using a robot. This method is applied to a wire arranging robot control system, as Figure 1 shown. This method includes steps S101 to S106, and the above steps are as follows: S101. Obtain the projection curve of the wire core to be processed.

[0028] In the above steps, since the size parameters of the core to be processed are small, it is difficult to directly and effectively capture the characteristics of the core. However, the shape of the core to be processed is round, straight and continuous, and the overall physical characteristics are manifested as a curve. Therefore, in this application, the optical magnification principle is used. A constant light source is used to irradiate the original core to be processed, and it is projected onto a blank panel. At this time, the magnified projection curve can be obtained by photographing the shape curve on the blank panel. In addition, since a multi-core cable requires multiple cores to be processed to be wound simultaneously, it is necessary to collect the projection curves of multiple cores to be processed at the same time. The above projection method can irradiate multiple cores to be processed simultaneously by adjusting the angle of the constant light source, so as to obtain the magnified projection curves of multiple different cores to be processed at the same time, thereby improving the acquisition efficiency of the projection curve and saving equipment costs. For the convenience of explanation, the projection curve of a single core to be processed will be described hereinafter. It should also be noted that the wire arranging mechanism can be adjusted separately for each core to be processed.

[0029] S102. Identify abnormal segments in the projection curve.

[0030] In the above steps, the abnormal segment can be understood as the segment in the projection curve where the size (cross-sectional diameter) error is greater than 0, but it does not necessarily mean that the abnormal segment is an unqualified abnormal segment. Further explanation is that when producing the core to be processed, the production equipment cannot ensure that the size parameters of the core to be processed are always consistent, that is, there are error fluctuations. However, as long as this error fluctuation is within a reasonable error range, it can be recognized as a qualified product. Therefore, identifying the abnormal segment in the projection curve is to identify the segment with errors in the core to be processed.

[0031] The processing error of the core to be processed is often very small, usually manifested as non-linear or hidden characteristics, which makes it difficult for traditional single-dimensional feature extraction algorithms to effectively capture. For example, in the production process of multi-core cable cores, due to factors such as uneven material distribution, the diameter of the core may have small irregular changes within a certain length. From the perspective of curvature, this small change may not cause an obvious change in the bending degree (i.e., curvature) of the curve, and the curvature value is still within the normal range. In order to cope with this situation, a feature extraction algorithm with high precision is often required, but a feature extraction algorithm with high precision requires a large amount of computing resources. For example, wavelet decomposition can capture local features in the signal through multi-scale analysis, so as to effectively identify non-linear or hidden errors. However, it needs to perform multi-level decomposition on the signal, and the computational complexity of each level is relatively high, resulting in a long calculation time and thus affecting the production efficiency.

[0032] To solve the above problems, in a possible implementation, the present application converts the projection curve into multiple feature curves, which include but are not limited to the slope curve, variance curve, curvature curve, etc. In this way, the high-dimensional projection curve is split into multiple low-dimensional feature curves, thereby reducing the difficulty of analyzing and processing the projection curve. Then, differential operations are respectively performed on the multiple feature curves to obtain multiple differential curves. Since the differential operation can highlight the change rate of the curve and amplify the slope information of the curve, it is easier to detect the mutation points and non-linear changes in the curve. At this time, by respectively performing anomaly recognition on the multiple differential curves, relatively accurate anomaly segments can be obtained.

[0033] It should be further noted that the number of anomaly segments is more than one. In addition, due to the different manifestation forms of the hidden features in different feature curves, they may only be manifested in one feature curve or may be manifested in multiple feature curves at the same time. Therefore, it is also necessary to statistically analyze and integrate the anomaly segments extracted from the multiple differential curves to obtain complete and non-repeated multiple anomaly segments, thereby providing reliable data for the subsequent wiring planning of the anomaly segments.

[0034] In a possible implementation, although the differential operation is simple to calculate and can highlight the change rate of the curve, its error is relatively large, making it difficult for the obtained differential curve to retain the detailed information of the original feature curve. And when the feature curve undergoes differential operation, if the operation result is not ideal at this time, it is no longer suitable for continued iterative differentiation, so its application range is relatively small. Therefore, the present application adjusts the calculation result of the first differential operation of the feature curve through a weight curve, sets a higher weight for the important part to retain important information, and sets a lower weight for the unimportant part to remove the influence of noise. Specifically: First, perform entropy value operation on the data points in the feature curve to obtain an entropy value curve. In the entropy value curve, if the entropy value of a certain data point is larger, it means that the state of the wire core at this data point is complex, involving the comprehensive influence of multiple factors and containing more useful information about the change of the wire core. Among them, the entropy value calculation formula is: Among them, is the entropy value of the i-th data point, is the total number of data points participating in the differential operation in the feature curve, is the proportion of the i-th data point in the sum of all data points.

[0035] At this time, normalize the entropy value curve to obtain the weight curve of the feature curve; after performing a difference operation on the feature curve, use the weight curve to adjust the result of the difference operation, so as to retain the information of the important part of the original feature curve and weaken the information ratio of the unimportant part, thereby highlighting the mutation points and non-linear changes in the curve.

[0036] S103. Match the performance parameters of the abnormal segment with the preset wiring table to obtain the winding standard of the multi-core cable corresponding to the abnormal segment. The winding standard includes the stranding angle and pitch.

[0037] S104. Calculate the difference between the winding standard of the multi-core cable corresponding to the abnormal segment and the winding standard of the multi-core cable to be processed to obtain the stranding angle difference and pitch difference.

[0038] S105. Determine the wiring strategy of the abnormal segment according to the stranding angle difference and pitch difference. The wiring strategy includes feed speed compensation and wiring tension compensation.

[0039] In the above steps S103 to S105, the preset wiring table stores the winding standards corresponding to various wire cores with different performances. The winding standard is the winding standard of a qualified multi-core cable, and the winding standard includes the stranding angle and pitch; after matching the performance parameters of the abnormal segment with the preset wiring table, the winding standard corresponding to the size parameters of the abnormal segment can be obtained. The performance parameters include material attributes and size parameters; then calculate the difference between the winding standard of the abnormal segment and the preset winding standard of the current multi-core cable, and the deviation degree of the abnormal segment from the target stranding angle and target pitch during the winding process can be obtained, that is, the stranding angle difference and pitch difference. The target stranding angle and target pitch are the preset winding standards of the current multi-core cable.

[0040] Then, adjust the wiring strategy of the abnormal segment according to the stranding angle difference and pitch difference. Among them, the wiring strategy includes feed speed compensation and wiring tension compensation; it can be understood that the change of the feed speed will cause the stranding angle and pitch of the wire core to change during the winding process, and the change of the wiring tension will change the tightness of the wire core, thereby causing the stranding angle and pitch to change; based on this principle, the feed speed compensation is to make up for the stranding angle difference and pitch difference by changing the feed speed of the abnormal segment; the wiring tension compensation is to make up for the stranding angle difference and pitch difference by changing the tightness of the abnormal segment; under the joint compensation of the two, continuously make up for the influence of the error of the wire core itself on the quality of the multi-core cable during the winding process, thereby improving the overall quality of the multi-core cable. Among them, adjusting the wiring strategy of the abnormal segment according to the stranding angle difference and pitch difference is specifically: First, obtain the basic parameters of the wire arranging device. The basic parameters include the preset wire arranging tension and the preset feeding speed. Both the preset wire arranging tension and the preset feeding speed are wire arranging parameters set when the processing error of the wire core is regarded as 0. Additionally, obtain the basic parameters of the abnormal segment and the basic parameters of the multi-core cable. The basic parameters of the abnormal segment include the cross-sectional area, elastic modulus, and length of the abnormal segment. The basic parameters of the multi-core cable include the target pitch, target stranding angle, and stranding radius.

[0041] Then, based on the basic parameters of the wire arranging device, the stranding angle difference, the pitch difference, and the basic parameters of the multi-core cable, calculate the feeding speed compensation amount for the abnormal segment. The specific calculation formula is as follows: Among them, is the feeding speed compensation amount, is the pitch difference, is the target pitch of the wire core to be processed, is the preset feeding speed, is the stranding angle difference, is the target stranding angle, is the rotational speed of the winding device, is the stranding radius of the multi-core cable.

[0042] In the above steps, can be understood as the relative offset of the winding pitch of the current wire core from the target pitch. Multiply this ratio result by the preset feeding speed to determine the feeding speed compensation amount required for the pitch change; can be understood as the feeding speed compensation amount required for the stranding angle change. The derivation process is as follows: The calculation formula for the stranding angle is: , where v is the feeding speed, is the rotational speed of the stranding device, and r is the stranding radius. The feeding speed for the target stranding angle can be obtained as When the target stranding angle deviates by due to the abnormal segment, its actual feeding speed should be: In order to correct to , then needs to be compensated to . The speed compensation amount among them is: After integration, the compensation amount can be obtained as .

[0043] When the feeding speed changes, the core will be stretched or compressed, resulting in a change in the physical properties of the core. Therefore, the feeding speed needs to be corrected according to the basic parameters of the core. Specifically, the wire laying tension compensation amount of the abnormal segment is calculated based on the basic parameters of the abnormal segment, the difference in stranding angle, the difference in pitch, the feeding speed compensation amount, and the basic parameters of the multi-core cable. The specific formula is as follows: Among them, is the wire laying tension compensation amount, is the feeding speed compensation amount, is the preset wire laying tension, is the wire laying tension - stranding angle coupling coefficient, and k is the core deformation compensation coefficient.

[0044] In the above formula, is the wire laying tension compensation amount for correcting the change in the physical properties of the core caused by the change in the feeding speed, that is, by changing the wire laying tension to make up for the deformation of the core caused by the change in the feeding speed. The faster the feeding speed, the stronger the stretching effect on the core, and the more the wire laying tension compensation. Among them, k = f(E, A, L), 、 、 are the elastic modulus, cross-sectional area, and segment length of the abnormal segment respectively; in addition, when there is a difference θ between the actual stranding angle and the target stranding angle, the stranding form of the core changes, and the stress conditions of each part inside also change accordingly; therefore, it is also necessary to pass the wire laying tension - stranding angle coupling term to make up for the deformation of the core caused by the change in the stranding angle. Among them, is the relative offset of the stranding angle of the current core from the target stranding angle, and then multiply it by the initial tension and the wire laying tension - stranding angle coupling coefficient to obtain the wire laying tension compensation amount corresponding to the change in the stranding angle.

[0045] S106. When starting to lay wires for the abnormal segment, according to the wire laying strategy, control the feeding speed and wire laying tension of the wire laying mechanism for the core to be processed.

[0046] In the above steps, after determining the wire laying strategy for the abnormal segment, when the wire laying before winding for the abnormal segment is about to be carried out, according to the wire laying strategy, add the feeding speed compensation amount to the preset feeding speed of the wire laying mechanism, and then add the wire laying tension compensation amount to the preset wire laying tension, and then wind the abnormal segment, so as to make up for the impact of the processing error of the core on the cable quality.

[0047] In a possible implementation manner, after specifically arranging the wires for the abnormal segment, the present application also inspects the winding effect of the wire core to be processed. Specifically: by detecting the actual winding parameters of the wire core to be processed, the actual winding parameters including the actual stranding angle and the actual pitch; then using the winding standard of the multi-core cable to be processed to evaluate the winding effect of the actual winding parameters of the wire core to be processed. Specifically: calculating the difference between the actual stranding angle of the wire core to be processed and the target stranding angle of the multi-core cable to be processed, and the difference between the actual pitch of the wire core to be processed and the target pitch of the multi-core cable to be processed. Then, after normalizing the differences between the two, a weighted average is performed to obtain a winding effect score. At this time, if the winding effect score is greater than or equal to the preset score threshold, the corresponding relationship between the wire arrangement strategy of the wire core to be processed and the performance parameters of the wire core to be processed is stored in the preset wire arrangement strategy table. Subsequently, when the wire arrangement robot control system arranges wires for the wire core to be processed under the same or similar working conditions, the wire arrangement strategy can be directly matched from the preset wire arrangement strategy table, thereby improving the wire arrangement efficiency.

[0048] Referring to Figure 2 , the present application also provides a multi-core cable wire arrangement system applying a robot. The system is a wire arrangement robot control system, including an acquisition module 1, a processing module 2, and an execution module 3, where: The acquisition module 1 is used to acquire the projection curve of the wire core to be processed; The processing module 2 is used to identify the abnormal segment in the projection curve; match the performance parameters of the abnormal segment with the preset wire arrangement table to obtain the winding standard of the multi-core cable corresponding to the abnormal segment, the winding standard including the stranding angle and the pitch; calculate the difference between the winding standard of the multi-core cable corresponding to the abnormal segment and the winding standard of the multi-core cable to be processed to obtain the stranding angle difference and the pitch difference; determine the wire arrangement strategy of the abnormal segment according to the stranding angle difference and the pitch difference, the wire arrangement strategy including the feeding speed compensation and the wire arrangement tension compensation; The execution module 3 is used to control the feeding speed and the wire arrangement tension of the wire arrangement mechanism for the wire core to be processed according to the wire arrangement strategy when starting to arrange wires for the abnormal segment.

[0049] It should be noted that: when the device provided in the above embodiment realizes its functions, only the above-mentioned division of each functional module is used for illustration. In actual application, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0050] The present application also discloses an electronic device. Referring to Figure 3 , Figure 3It is a schematic structural diagram of an electronic device disclosed in an embodiment of the present application. The electronic device 300 may include: at least one processor 301, at least one network interface 304, a user interface 303, a memory 305, and at least one communication bus 302.

[0051] Among them, the communication bus 302 is used to realize the connection and communication between these components.

[0052] Among them, the user interface 303 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 303 may further include a standard wired interface and a wireless interface.

[0053] Among them, the network interface 304 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0054] Among them, the processor 301 may include one or more processing cores. The processor 301 connects various parts within the entire server through various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling data stored in the memory 305, it executes various functions of the server and processes data. Optionally, the processor 301 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 301 may integrate one or several combinations of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application programs, etc.; the GPU is responsible for the rendering and drawing of the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above modem may not be integrated into the processor 301 and may be implemented separately by a single chip.

[0055] Among them, the memory 305 may include a Random Access Memory (RAM), or may also include a Read-Only Memory. Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area. Among them, the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned method embodiments, etc.; the data storage area can store the data involved in the above-mentioned method embodiments. Optionally, the memory 305 may also be at least one storage device located far from the aforementioned processor 301. Refer to Figure 3 As a computer storage medium, the memory 305 may include an operating system, a network communication module, a user interface module, and an application program for a multi-core cable wiring method of an application robot.

[0056] In Figure 3 In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user to obtain user input data; and the processor 301 can be used to call an application program stored in the memory 305 for a multi-core cable wiring method of an application robot. When executed by one or more processors 301, the electronic device 300 is caused to execute the method as described in one or more of the above embodiments. It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0057] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0058] In several implementation manners provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some service interfaces. The indirect coupling or communication connection of devices or units can be in an electrical or other form.

[0059] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0060] In addition, each functional unit in various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0061] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of the present application. And the aforementioned memory includes: various media such as USB flash drives, mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0062] The above are only exemplary embodiments of the present disclosure and should not be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure still fall within the scope covered by the present disclosure. Those skilled in the art will easily think of other implementation schemes of the present disclosure after considering the specification and the disclosed practice truth.

[0063] The present application aims to cover any variations, uses, or adaptive changes of the present disclosure. These variations, uses, or adaptive changes follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not recorded in the present disclosure. The specification and the embodiments are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A method for arranging multi-core cables using a robot, characterized in that, Applied to the control system of the wire arrangement robot, the method includes: Obtain the projection curve of the wire core to be processed; Identify the abnormal segments in the projection curve; Match the performance parameters of the abnormal segments with a preset wire arrangement table to obtain the winding standards of the multi-core cable corresponding to the abnormal segments, where the winding standards include the stranding angle and the pitch; Calculate the difference between the winding standards of the multi-core cable corresponding to the abnormal segments and the winding standards of the multi-core cable to be processed to obtain the stranding angle difference and the pitch difference; Determine the wire arrangement strategy for the abnormal segments according to the stranding angle difference and the pitch difference, where the wire arrangement strategy includes the feeding speed compensation and the wire arrangement tension compensation; When starting to arrange the wires for the abnormal segments, control the feeding speed and the wire arrangement tension of the wire core to be processed according to the wire arrangement strategy.

2. The method according to claim 1, wherein The step of identifying the abnormal segments in the projection curve is specifically: Convert the projection curve into multiple feature curves, and the multiple feature curves include the slope curve, the variance curve, and the curvature curve; Perform differential operations on the multiple feature curves respectively to obtain multiple differential curves; Perform abnormal identification on the multiple differential curves respectively to obtain the abnormal segments.

3. The method according to claim 2, wherein The step of performing differential operations on the multiple feature curves respectively to obtain multiple differential curves specifically further includes: Perform entropy value operations on the data points in the first feature curve to obtain an entropy value curve, where the first feature curve is any one of the multiple feature curves; Calculate the weight curve of the first feature curve according to the entropy value curve; Perform weighted differentiation on the first feature curve based on the weight curve to obtain a differential curve.

4. The method according to claim 1, characterized in that, The step of determining the wire arrangement strategy for the abnormal segments according to the stranding angle difference and the pitch difference is specifically: Obtain the basic parameters of the wire arrangement device, the basic parameters of the abnormal segments, and the basic parameters of the multi-core cable. The basic parameters of the wire arrangement device include the preset wire arrangement tension and the preset feeding speed; Calculate the feeding speed compensation amount for the abnormal segments according to the basic parameters of the wire arrangement device, the stranding angle difference, the pitch difference, and the basic parameters of the multi-core cable; Calculate the wire arrangement tension compensation amount for the abnormal segments according to the basic parameters of the abnormal segments, the stranding angle difference, the pitch difference, the feeding speed compensation amount, and the basic parameters of the multi-core cable; Add the preset feeding speed and the feeding speed compensation amount to obtain the feeding speed strategy; Add the preset wire arrangement tension and the wire arrangement tension compensation amount to obtain the wire arrangement tension strategy.

5. The method according to claim 4, characterized in that The step of calculating the feeding speed compensation amount for the abnormal segments according to the basic parameters of the wire arrangement device, the stranding angle difference, the pitch difference, and the basic parameters of the multi-core cable is specifically: Among them, is the feed speed compensation amount, is the pitch difference, is the target pitch of the core to be processed, is the preset feed speed, is the stranding angle difference, is the target stranding angle, is the rotational speed of the winding equipment, and r is the stranding radius of the multi-core cable.

6. The method according to claim 5, characterized in that, The step of calculating the wire arrangement tension compensation amount for the abnormal segments according to the basic parameters of the abnormal segments, the stranding angle difference, the pitch difference, the feeding speed compensation amount, and the basic parameters of the multi-core cable is specifically: Among them, is the compensation amount of the wire harness tension, is the compensation amount of the feeding speed, is the preset wire harness tension, is the wire harness tension - stranding angle coupling coefficient, and k is the wire core deformation compensation coefficient.

7. The method according to claim 1, characterized in that, After controlling the feeding speed and winding tension of the core to be processed by the wire winding mechanism according to the wire winding strategy, the method further includes: Detecting the actual winding parameters of the core to be processed, where the actual winding parameters include the actual stranding angle and the actual pitch; Evaluating the actual winding parameters based on the winding standard of the multi-core cable to be processed to obtain a winding effect score; If the winding effect score is greater than or equal to a preset score threshold, storing the correspondence between the wire winding strategy of the core to be processed and the performance parameters of the core to be processed in a preset wire winding strategy table, so as to provide a reliable wire winding strategy for the subsequent wire winding of the wire winding robot control system.

8. A multi-core cable wiring system applied with a robot, characterized in that, The system is a wire winding robot control system, including an acquisition module (1), a processing module (2), and an execution module (3), where: The acquisition module (1) is configured to acquire the projection curve of the core to be processed; The processing module (2) is configured to identify abnormal segments in the projection curve; match the performance parameters of the abnormal segments with a preset wire winding table to obtain the winding standard of the multi-core cable corresponding to the abnormal segments, where the winding standard includes the stranding angle and the pitch; calculate the difference between the winding standard of the multi-core cable corresponding to the abnormal segments and the winding standard of the multi-core cable to be processed to obtain a stranding angle difference and a pitch difference; determine the wire winding strategy of the abnormal segments according to the stranding angle difference and the pitch difference, where the wire winding strategy includes a feeding speed compensation and a winding tension compensation; The execution module (3) is configured to control the feeding speed and winding tension of the core to be processed by the wire winding mechanism according to the wire winding strategy when starting to wind the abnormal segments.

9. An electronic device, characterized in that: It includes a processor (301), a memory (305), a user interface (303), and a network interface (304). The memory (305) is used to store instructions. The user interface (303) and the network interface (304) are used to communicate with other devices. The processor (301) is configured to execute the instructions stored in the memory (305) so that the electronic device (300) executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the method according to any one of claims 1 to 7 is executed.

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