A multi-core cable winding method and system for a robot

Abstract

A multi-core cable winding method and system using a robot relates to the field of cable manufacturing. The method is applied to a winding robot control system, and the method comprises: obtaining a projection curve of a wire core to be processed; identifying an abnormal segment in the projection curve; matching the performance parameters of the abnormal segment with a preset winding table to obtain the winding standard of the multi-core cable corresponding to the abnormal segment, the winding standard including a twisting angle and a pitch; calculating 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 a twisting angle difference and a pitch difference; determining a winding strategy for the abnormal segment according to the twisting angle difference and the pitch difference; and when starting to wind the abnormal segment, controlling the feeding speed and the winding tension of the wire core to be processed according to the winding strategy. The technical solution provided in the application solves the problem of the decline in the processing quality of the multi-core cable caused by the accumulation of the errors of the wire core itself.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cable manufacturing, in particular to a multi-core cable arranging method and system applying a robot. BACKGROUND

[0002] With the development of intelligence, ordinary cables gradually cannot meet the requirements of the diversification of device functions today; therefore, a multi-core cable is developed, which is twisted around a center axis by a plurality of insulated cores, wherein each insulated core can have different functions, and is very suitable for industrial automation control systems which need to transmit multiple signals or power at the same time today.

[0003] In the manufacturing of multi-core cables, in order to ensure good mechanical properties and strong anti-electromagnetic interference ability, the twisting angle and pitch of the multi-core cable need to be strictly controlled. The currently adopted way is generally concentric twisting technology, which first arranges the plurality of cores, and then inputs them into a twisting device, so that the twisting device twists the plurality of cores around the center axis into a whole multi-core cable. The feeding speed and feeding tension of the cores are controlled by the arranging robot, so as to meet the requirements of the twisting angle and pitch of the multi-core cable.

[0004] However, in the real processing environment, the processing quality of the cores themselves is not completely consistent, and the arranging robot generally arranges the cores according to a unified arranging standard, which makes the errors of the cores themselves accumulate continuously in the continuous processing process of the multi-core cable, thereby causing the processing quality of the multi-core cable to decrease. SUMMARY

[0005] In view of the problem that the accumulation of errors of the cores themselves leads to the decrease of the processing quality of the multi-core cable, the present application provides a multi-core cable arranging method and system applying a robot.

[0006] In a first aspect, the present application provides a multi-core cable arranging method applying a robot, applied to an arranging robot control system, and the method comprises:

[0007] obtaining a projection curve of a to-be-processed core;

[0008] identifying an abnormal segment in the projection curve;

[0009] matching a performance parameter of the abnormal segment with a preset arranging table to obtain a winding standard of a multi-core cable corresponding to the abnormal segment, the winding standard comprising a twisting angle and a pitch;

[0010] differentially calculating the winding standard of the multi-core cable corresponding to the abnormal segment and a winding standard of a to-be-processed multi-core cable to obtain a twisting angle difference and a pitch difference;

[0011] determine a wire arrangement strategy of the abnormal segment according to the twist angle difference value and the pitch difference value, the wire arrangement strategy including feed speed compensation and wire arrangement tension compensation;

[0012] when starting to arrange the wire of the abnormal segment, control the feed speed and the wire arrangement tension of the wire core to be processed according to the wire arrangement strategy.

[0013] Optionally, the abnormal segment in the projection curve is identified, specifically:

[0014] convert the projection curve into a plurality of feature curves, the plurality of feature curves including a slope curve, a variance curve and a curvature curve;

[0015] differentially operate the plurality of feature curves respectively to obtain a plurality of differential curves;

[0016] abnormality identify the plurality of differential curves respectively to obtain the abnormal segment.

[0017] Optionally, the differential operation on the plurality of feature curves respectively to obtain the plurality of differential curves further includes:

[0018] perform entropy value operation on data points in a first feature curve to obtain an entropy value curve, the first feature curve being any one of the plurality of feature curves;

[0019] calculate a weight curve of the first feature curve according to the entropy value curve;

[0020] perform weighted differentiation on the first feature curve based on the weight curve to obtain a differential curve.

[0021] Optionally, the wire arrangement strategy of the abnormal segment is determined according to the twist angle difference value and the pitch difference value, specifically:

[0022] obtain basic parameters of the wire arrangement device, basic parameters of the abnormal segment and basic parameters of the multi-core cable, the basic parameters of the wire arrangement device including a preset wire arrangement tension and a preset feed speed;

[0023] calculate a feed speed compensation amount of the abnormal segment according to the basic parameters of the wire arrangement device, the twist angle difference value, the pitch difference value and the basic parameters of the multi-core cable;

[0024] calculate a wire arrangement tension compensation amount of the abnormal segment according to the basic parameters of the abnormal segment, the twist angle difference value, the pitch difference value, the feed speed compensation amount and the basic parameters of the multi-core cable;

[0025] add the preset feeding speed and the feeding speed compensation to obtain the feeding speed strategy;

[0026] add the preset wire tension and the wire tension compensation to obtain the wire tension strategy.

[0027] Optionally, the feeding speed compensation of the abnormal segment is calculated according to the base parameters of the wire winding device, the twisting angle difference, the pitch difference and the base parameters of the multi-core cable, specifically:

[0028]

[0029] wherein, is the feeding speed compensation, is the pitch difference, is the target pitch of the wire core to be processed, is the preset feeding speed, is the twisting angle difference, is the target twisting angle, is the rotating speed of the wire winding device, and r is the twisting radius of the multi-core cable.

[0030] Optionally, the wire tension compensation of the abnormal segment is calculated according to the base parameters of the abnormal segment, the twisting angle difference, the pitch difference, the feeding speed compensation and the base parameters of the multi-core cable, specifically:

[0031]

[0032] wherein, is the wire tension compensation, is the feeding speed compensation, is the preset wire tension, is the wire tension-twisting angle coupling coefficient, and k is the wire core deformation compensation coefficient.

[0033] Optionally, after the feeding speed and the wire tension of the wire core to be processed are controlled by the wire winding mechanism according to the wire winding strategy, the method further comprises:

[0034] detecting actual wire winding parameters of the wire core to be processed, the actual wire winding parameters including actual twisting angle and actual pitch;

[0035] evaluating the actual wire winding parameters based on the wire winding standard of the multi-core cable to be processed to obtain a wire winding effect score;

[0036] If the winding effect score is greater than or equal to a preset score threshold, a correspondence between a winding strategy of the wire core to be processed and a performance parameter of the wire core to be processed is stored in a preset winding strategy table, so as to provide a reliable winding strategy for subsequent winding of the winding robot control system.

[0037] In a second aspect, the present application provides a multi-core cable winding system using a robot, which is a winding robot control system, comprising an acquisition module, a processing module and an execution module, wherein:

[0038] The acquisition module is configured to acquire a projection curve of a wire core to be processed.

[0039] The processing module is configured to identify an abnormal segment in the projection curve, match a performance parameter of the abnormal segment with a preset winding table, obtain a winding standard of a multi-core cable corresponding to the abnormal segment, and perform difference calculation on the winding standard of the multi-core cable corresponding to the abnormal segment and a winding standard of a multi-core cable to be processed, to obtain a difference value of a twisting angle and a pitch difference value; and determine a winding strategy of the abnormal segment according to the difference value of the twisting angle and the pitch difference value, wherein the winding strategy comprises a feed speed compensation and a winding tension compensation.

[0040] The execution module is configured to, when starting to wind the abnormal segment, control a winding mechanism according to the winding strategy to control a feed speed and a winding tension of the wire core to be processed.

[0041] In a third aspect, the present application provides an electronic device, comprising a processor, a memory, a user interface and a network interface, the memory is configured to store instructions, the user interface and the network interface are configured to communicate with other devices, and the processor is configured to execute the instructions stored in the memory to enable the electronic device to execute the method of any one of the first aspect.

[0042] In a fourth aspect, the present application provides a computer readable storage medium, which stores instructions, when the instructions are executed, the method of any one of the first aspect is executed.

[0043] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0044] 1、The projection method is used to obtain the projection curve of the to-be-processed wire core, so as to magnify the size parameters of the to-be-processed wire core, and to improve the identification accuracy of abnormal segments of the to-be-processed wire core. The abnormal segment refers to a wire core segment with a processing error greater than 0. In this case, the error of these abnormal segments will continue to accumulate during continuous processing, thereby causing the processing quality of the multi-core cable to decrease. Therefore, the abnormal segments are matched with a preset wire arrangement table, the wire arrangement standard (twisting angle and pitch) corresponding to the abnormal segments is found, and then the winding standard of the abnormal segments is differentially calculated with the preset winding standard (the current wire arrangement standard of the multi-core cable), so as to obtain the deviation amount of the abnormal segments in the winding process. According to the deviation amount, the feed speed compensation and the wire arrangement tension compensation of the abnormal segments in the wire arrangement process are calculated, so as to compensate for the error of the abnormal segments in the processing process, and thereby improve the processing quality of the multi-core cable.

[0045] 2、In identifying the abnormal segments in the projection curve, the to-be-processed wire core itself meets the processing requirements, but there may be a certain processing error (error within the error range), and such processing error is extremely small and may exhibit non-linear or implicit characteristics, thereby being difficult to effectively capture. Therefore, the projection curve is converted into a plurality of feature curves, such as a slope curve, a variance curve, and a curvature curve, so as to convert the complex high-dimensional projection curve into a simple low-dimensional feature curve, and to respectively perform differential operation on the plurality of feature curves to obtain a plurality of differential curves, thereby highlighting the implicit characteristics in the projection curve. Finally, the respective corresponding abnormal segments are extracted from the plurality of differential curves, and then are counted and integrated to obtain the abnormal segments in the projection curve, thereby effectively capturing the non-linear or implicit characteristics in the projection curve. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 is a flowchart of a multi-core cable wire arrangement method provided by an embodiment of the present application.

[0047] Figure 2 is a structural diagram of a multi-core cable wire arrangement system provided by an embodiment of the present application.

[0048] Figure 3 is a structural diagram of an electronic device provided by an embodiment of the present application.

[0049] The drawing reference numeral is explained: 1, an acquisition module; 2, a processing module; 3, an execution module; 300, an electronic device; 301, a processor; 302, a communication bus; 303, a user interface; 304, a network interface; 305, a memory. DETAILED DESCRIPTION

[0050] In order for those skilled in the art to better understand the technical solutions in the specification, the technical solutions in the specification will be clearly and completely described below in conjunction with the accompanying drawings in the specification embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, not all.

[0051] In the description of the embodiments of the present application, the words such as "for example" or "for instance" are used to represent an example, illustration or description. Any embodiment or design scheme described as "for example" or "for instance" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words such as "for example" or "for instance" are intended to present the relevant concept in a specific manner.

[0052] In the description of the embodiments of the present application, the term "a plurality of" 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 used only for descriptive purposes, and should not be construed as indicating or implying relative importance or implicitly indicating the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more features. The terms "include", "contain", "have" and their variants mean "include but are not limited to", unless otherwise specifically emphasized.

[0053] In the manufacture of multi-core cables, in order to ensure that they have good mechanical properties and strong anti-electromagnetic interference ability, the stranding angle and pitch of the cable must be strictly controlled. At present, the concentric stranding technology is generally used to achieve this goal. This technology first accurately arranges a plurality of wire cores, and then strands these wire cores around a central axis into a whole multi-core cable through a stranding device. In this process, a wire arranging robot is generally required to control the feeding speed and feeding tension of the wire cores, so as to ensure that the stranding angle and pitch of the multi-core cable meet the design requirements.

[0054] 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, the size parameters may fluctuate within the error range. The wire arranging robot usually operates according to a unified wire arranging standard. This standardized operation will lead to the accumulation of errors when facing inconsistent wire core quality. Specifically, the slight differences in the wire cores will gradually enlarge in the continuous processing process, and ultimately affect the overall quality of the multi-core cable.

[0055] In order to solve the above problems, the present application provides a multi-core cable arranging method applying a robot. The method is applied to a wire arranging robot control system, such as Figure 1As shown, the method comprises steps S101 to S106, which are as follows:

[0056] S101, acquiring a projection curve of the wire core to be processed.

[0057] In the above step, due to the small size parameter, it is difficult to directly and effectively capture the characteristics of the wire core to be processed, but the shape of the wire core to be processed is round and continuous, and the overall performance is the physical characteristics of the curve. Therefore, the present application uses the principle of optical magnification, uses a constant light source to irradiate the original wire core to be processed, and projects it on a blank panel. At this time, the shape curve on the blank panel can be obtained by shooting. In addition, since the multi-core cable needs to wind multiple wire cores to be processed at the same time, it is necessary to collect the projection curves of multiple wire cores to be processed at the same time. The above projection method can simultaneously irradiate multiple wire cores to be processed by adjusting the angle of the constant light source, so as to simultaneously obtain the magnified projection curves of multiple different wire cores to be processed, thereby improving the collection efficiency of the projection curve and saving the equipment cost. In order to facilitate the description, the projection curve of a single wire core to be processed is described in the following, and it should be noted that the wire arranging mechanism can be adjusted individually for each wire core to be processed.

[0058] S102, identifying an abnormal segment in the projection curve.

[0059] In the above step, the abnormal segment can be understood as a segment in the projection curve with a size (cross-sectional diameter) error greater than 0, but it does not mean that the abnormal segment is necessarily an unqualified abnormal segment. Further explanation is that during the production of the wire core to be processed, the production equipment cannot guarantee that the size parameter of the wire core to be processed is always consistent, that is, there is error fluctuation, but as long as the error fluctuation is within a reasonable error range, it can be considered as a qualified product. Therefore, identifying the abnormal segment in the projection curve is to identify the segment with error in the wire core to be processed.

[0060] The processing error of the wire core to be processed is often very small, usually showing non-linear or implicit characteristics, making it difficult for traditional single-dimensional feature extraction algorithms to effectively capture. For example, in the production process of multi-core cable wire core, due to uneven material distribution and other factors, the diameter of the wire core may have small irregular changes in a certain length. From the perspective of curvature, this small change may not significantly change the bending degree (i.e. curvature) of the curve, and the curvature value is still within the normal range. In order to deal with this situation, a high-precision feature extraction algorithm is often used, but a high-precision feature extraction algorithm consumes a large amount of computing resources. For example, wavelet decomposition can capture local features in signals through multi-scale analysis, thereby effectively identifying non-linear or implicit errors, but it needs to decompose the signal at multiple levels, and the computational complexity of each level is high, resulting in a long calculation time and affecting production efficiency.

[0061] To solve the above problems, in a possible implementation, the present application converts the projection curve into a plurality of feature curves, including but not limited to a slope curve, a variance curve, a curvature curve, etc., so as to split the high-dimensional projection curve into a plurality of low-dimensional feature curves, thereby reducing the difficulty of analyzing and processing the projection curve; then, the plurality of feature curves are respectively subjected to a difference operation to obtain a plurality of difference curves, since the difference operation can highlight the change rate of the curve and magnify the slope information of the curve, so as to more easily find the mutation points and nonlinear changes in the curve, at this time, the plurality of difference curves are respectively subjected to abnormality identification, so as to obtain more accurate abnormal segments.

[0062] It needs to be further explained that the number of abnormal segments is more than one, in addition, since the implicit features have different forms in different feature curves, they can only be shown in one feature curve, or can be shown in multiple feature curves, therefore, the abnormal segments extracted from the plurality of difference curves need to be counted and integrated to obtain complete and non-repeated multiple abnormal segments, thereby providing reliable data for subsequent abnormal segment layout planning.

[0063] In a possible implementation, although the difference operation is simple to calculate and can highlight the change rate of the curve, its error is large, so that the difference curve obtained is difficult to retain the detail information of the original feature curve; and when the feature curve is subjected to the difference operation, if the operation result is not ideal at this time, it is no longer suitable for further iteration difference, therefore, the applicable range is small. Therefore, the present application adjusts the calculation result of the first difference operation of the feature curve through a weight curve, sets a higher weight for important parts to retain important information, and sets a lower weight for unimportant parts to remove the noise influence; specifically:

[0064] First, the data points in the feature curve are subjected to an entropy operation to obtain an entropy curve, in the entropy curve, the greater the entropy of a data point, the more complex the state of the wire core of the data point, involving the comprehensive influence of multiple factors and containing more useful information about the change of the wire core; wherein, the entropy calculation formula is:

[0065]

[0066] wherein, is the entropy of the i th data point, is the total number of data points in the feature curve participating in the difference operation, is the proportion of the i th data point in the sum of the total data points.

[0067] At this time, the entropy value curve is normalized, and the weight curve of the characteristic curve is obtained; after the differential operation of the characteristic curve, the weight curve is used to adjust the differential operation result, so as to retain the information of the important part of the original characteristic curve and weaken the proportion of the unimportant part, thereby highlighting the mutation points and nonlinear changes in the curve.

[0068] S103, 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 twisting angle and the pitch.

[0069] S104, difference calculation is performed on 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 difference values of the twisting angle and the pitch.

[0070] S105, according to the difference values of the twisting angle and the pitch, the wire arrangement strategy of the abnormal segment is determined, the wire arrangement strategy including the feed speed compensation and the wire arrangement tension compensation.

[0071] In the above steps S103 to S105, the winding standards corresponding to the wire cores with different performances are stored in the preset wire arrangement table, the winding standard is the winding standard of the qualified multi-core cable, and the winding standard includes the twisting angle and the pitch; after matching the performance parameters of the abnormal segment with the preset wire arrangement table, the winding standard corresponding to the size parameters of the abnormal segment can be obtained, the performance parameters including the material attributes and the size parameters; then, difference calculation is performed on the winding standard of the abnormal segment and the preset winding standard of the current multi-core cable to obtain the deviation degrees of the abnormal segment from the target twisting angle and the target pitch in the winding process, i.e. the difference values of the twisting angle and the pitch, and the target twisting angle and the target pitch are the preset winding standard of the current multi-core cable.

[0072] Then, according to the difference values of the twisting angle and the pitch, the wire arrangement strategy of the abnormal segment is adjusted, and the wire arrangement strategy includes the feed speed compensation and the wire arrangement tension compensation; it can be understood that the change of the feed speed will cause the change of the twisting angle and the pitch of the wire core in the winding process, and the change of the wire arrangement tension will cause the change of the tightness of the wire core, thereby causing the change of the twisting angle and the pitch; based on the principle, the feed speed compensation is to compensate the difference values of the twisting angle and the pitch by changing the feed speed of the abnormal segment, and the wire arrangement tension compensation is to compensate the difference values of the twisting angle and the pitch by changing the tightness of the abnormal segment; through the compensation of the two, the influence of the errors of the wire core itself in the winding process on the quality of the multi-core cable is continuously compensated, thereby improving the overall quality of the multi-core cable. According to the difference values of the twisting angle and the pitch, the wire arrangement strategy of the abnormal segment is adjusted, specifically:

[0073] Firstly, the basic parameters of the laying device are acquired, including preset laying tension and preset feeding speed, both of which are set when the processing error of the core is regarded as 0; in addition, the basic parameters of the abnormal segment and the multi-core cable are also acquired, including the cross-sectional area, elastic modulus and length of the abnormal segment, and the target pitch, target twisting angle and twisting radius of the multi-core cable.

[0074] Then, based on the basic parameters of the laying device, the twisting angle difference, the pitch difference and the basic parameters of the multi-core cable, the feeding speed compensation of the abnormal segment is calculated, and the specific calculation formula is as follows:

[0075]

[0076] Among them, is the feeding speed compensation, is the pitch difference, is the target pitch of the core to be processed, is the preset feeding speed, is the twisting angle difference, is the target twisting angle, is the speed of the winding device, is the twisting radius of the multi-core cable.

[0077] In the above steps, It can be understood as the relative offset of the winding pitch of the current core and the target pitch, and the feeding speed compensation required for the pitch change is determined by multiplying the preset feeding speed by this ratio result; It can be understood as the feeding speed compensation required for the change of the twisting angle, and the derivation process is as follows:

[0078] The calculation formula of the twisting angle is: , wherein v is the feeding speed, is the speed of the twisting device, and r is the twisting radius; the feeding speed of the target twisting angle can be obtained as

[0079]

[0080] When the target twisting angle deviates due to the abnormal segment , its actual feeding speed should be:

[0081]

[0082] In order to correct to , it is necessary to compensate to , wherein the speed compensation is:

[0083]

[0084] After integration, the compensation amount is .

[0085] When the feeding speed changes, the wire core will be stretched or compressed, causing the physical properties of the wire core to change, so the feeding speed also needs to be corrected according to the basic parameters of the wire core; Specifically, according to the basic parameters of the abnormal segment, the twist angle difference, the pitch difference, the feeding speed compensation amount, and the basic parameters of the multi-core cable, the wire arranging tension compensation amount of the abnormal segment is calculated, and the following formula is used:

[0086]

[0087] Wherein, is the wire arranging tension compensation amount, is the feeding speed compensation amount, is the preset wire arranging tension, is the wire arranging tension-twist angle coupling coefficient, and k is the wire core deformation compensation coefficient.

[0088] In the above formula, is the wire arranging tension compensation amount to correct the change of the wire core caused by the change of the feeding speed, that is, the wire arranging tension is changed to compensate for the deformation of the wire core caused by the change of the feeding speed. The faster the feeding speed, the stronger the stretching effect on the wire core, and the more the wire arranging tension needs to be compensated, wherein k=f(E,A,L), , , E, A, and L are the elastic modulus, cross-sectional area, and segment length of the abnormal segment, respectively; In addition, when the actual twist angle and the target twist angle have a difference θ, the twist shape of the wire core changes, and the stress of each part inside also changes; Therefore, the wire arranging tension-twist angle coupling term is also needed to compensate for the deformation of the wire core caused by the change of the twist angle, wherein is the relative offset of the current twist angle of the wire core and the target twist angle, and then multiplied by the initial tension and the wire arranging tension-twist angle coupling coefficient to obtain the wire arranging tension compensation amount corresponding to the change of the twist angle.

[0089] S106, when starting to arrange the wire of the abnormal segment, according to the wire arranging strategy, control the feeding speed and the wire arranging tension of the wire core to be processed by the wire arranging mechanism.

[0090] In the above step, after determining the arranging strategy of the abnormal section, when the abnormal section is about to be arranged, according to the arranging strategy, the preset feeding speed of the arranging mechanism is added with the feeding speed compensation, and the preset arranging tension is added with the arranging tension compensation, and then the abnormal section is arranged, so as to compensate the influence of the processing error of the wire core on the quality of the cable.

[0091] In a possible implementation, after the arranging of the abnormal section is performed, the application also tests the arranging effect of the wire core to be processed, specifically: by detecting the actual arranging parameters of the wire core to be processed, the actual arranging parameters including the actual twisting angle and the actual pitch; then using the arranging standard of the multi-core cable to be processed, the arranging effect of the actual arranging parameters of the wire core to be processed is evaluated, specifically: the difference between the actual twisting angle of the wire core to be processed and the target twisting 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 are calculated, and then the difference values are normalized and weightedly averaged to obtain the arranging effect score, at this time, if the arranging effect score is greater than or equal to the preset score threshold, the corresponding relationship between the arranging strategy of the wire core to be processed and the performance parameters of the wire core to be processed is stored in the preset arranging strategy table, and the arranging robot control system can directly match the arranging strategy from the preset arranging strategy table when arranging the wire core to be processed under the same or similar working conditions in the future, so as to improve the arranging efficiency.

[0092] Reference Figure 2 The application also provides a multi-core cable arranging system using a robot, which is an arranging robot control system, comprising an acquisition module 1, a processing module 2 and an execution module 3, wherein:

[0093] The acquisition module 1 is used for acquiring the projection curve of the wire core to be processed;

[0094] The processing module 2 is used for identifying the abnormal section in the projection curve; matching the performance parameters of the abnormal section with the preset arranging table to obtain the arranging standard of the multi-core cable corresponding to the abnormal section, the arranging standard including the twisting angle and the pitch; calculating the difference between the arranging standard of the multi-core cable corresponding to the abnormal section and the arranging standard of the multi-core cable to be processed to obtain the difference values of the twisting angle and the pitch; determining the arranging strategy of the abnormal section according to the difference values of the twisting angle and the pitch, the arranging strategy including the feeding speed compensation and the arranging tension compensation;

[0095] The execution module 3 is used for, when starting to arrange the abnormal section, controlling the feeding speed and the arranging tension of the arranging mechanism according to the arranging strategy.

[0096] It should be noted that the apparatus provided in the above examples is only used as an example for the division of the above functional modules in realizing its functions, and in actual application, the above functions can be completed by 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 above described functions. In addition, the apparatus and method embodiments provided in the above examples belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be described here.

[0097] The present application also discloses an electronic device. Referring to Figure 3 , Figure 3 is a structural schematic diagram of an electronic device disclosed by an embodiment of the present application. The electronic device 300 can 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.

[0098] The communication bus 302 is used to realize the connection and communication between the components.

[0099] The user interface 303 can include a display screen (Display) and a camera (Camera), and the optional user interface 303 can further include a standard wired interface and a wireless interface.

[0100] The network interface 304 can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0101] The processor 301 can include one or more processing cores. The processor 301 connects various parts within the server through various interfaces and lines, performs various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Alternatively, the processor 301 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 301 can integrate a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes operating systems, user interfaces, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 301, but can be realized by a separate chip.

[0102] The memory 305 can include a random access memory (RAM) and a read-only memory (ROM). Alternatively, 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 can include a program storage area and a data storage area, wherein 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 playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store data involved in the above-mentioned various method embodiments, etc. The memory 305 can alternatively be at least one storage device located away from the aforementioned processor 301. Referring to Figure 3 The memory 305 as a kind of computer storage medium can include an operating system, a network communication module, a user interface module and an application program of the application robot multi-core cable lay method.

[0103] In Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an interface for the user to input, and obtain data input by the user; and the processor 301 can be used to invoke an application program stored in the memory 305, which is a method for winding a multi-core cable of a robot, and when executed by one or more processors 301, causes the electronic device 300 to perform the method described in one or more of the above embodiments. It should be noted that, for the above-mentioned method embodiments, in order to simply describe, they are all expressed as a combination of a series of actions, but those skilled in the art should know that the application is not limited to the order of the actions described, because according to the application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily required by the application.

[0104] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0105] In the several embodiments 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 only schematic. The division of the units is only a logical function division. There can be another division manner for actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical or other forms.

[0106] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0107] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0108] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable memory. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a memory and includes a plurality of 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 embodiments of the present application. The aforementioned memory includes: a U disk, a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0109] The above-described are only exemplary embodiments of the present disclosure, and cannot limit the scope of the present disclosure. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure are still within the scope of the present disclosure. Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon considering the specification and practicing the true principles of the present disclosure.

[0110] The present application is intended to cover any variations, uses, or adaptive changes of the present disclosure that follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field not recorded in the present disclosure. The specification and examples are only considered as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A method for laying out multi-core cables for robots, characterized in that, The method, applied to a cable-laying robot control system, includes: Obtain the projection curve of the wire core to be processed; Identify abnormal segments in the projection curve, wherein the abnormal segments are segments in the projection curve with a size error greater than 0, specifically: The projection curve is converted into multiple feature curves, including a slope curve, a variance curve, and a curvature curve. Performing difference operations on multiple characteristic curves respectively to obtain multiple difference curves, specifically including: Entropy value calculation is performed on the data points in the first characteristic curve to obtain the entropy value curve, wherein the first characteristic curve is any one of the multiple characteristic curves; Calculate the weight curve of the first feature curve based on the entropy curve; Based on the weight curve, the first feature curve is weighted and differencing is performed to obtain the difference curve; Anomaly identification is performed on each of the multiple difference curves to obtain the abnormal segments; The performance parameters of the abnormal segment are matched 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 twist angle and pitch. 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 is calculated to obtain the twisting angle difference and pitch difference. Based on the twisting angle difference and the pitch difference, a wiring strategy for the abnormal segment is determined. The wiring strategy includes feed speed compensation and wiring tension compensation, specifically as follows: Acquire the basic parameters of the cable laying equipment, the basic parameters of the abnormal segment, and the basic parameters of the multi-core cable. The basic parameters of the cable laying equipment include the preset cable laying tension and the preset feeding speed. Based on the basic parameters of the cable laying equipment, the stranding angle difference, the pitch difference, and the basic parameters of the multi-core cable, the feed speed compensation amount for the abnormal segment is calculated, specifically as follows: ； in, For feed rate compensation, This is the pitch difference. The target pitch of the wire core to be processed. To preset the feeding speed, This is the difference in the twist angle. For the target twisting angle, Where r is the rotational speed of the winding equipment, and r is the twisting radius of the multi-core cable; The cable tension compensation amount for the abnormal segment is calculated based on the basic parameters of the abnormal segment, the twisting angle difference, the pitch difference, the feed speed compensation amount, and the basic parameters of the multi-core cable. The feed rate strategy is obtained by adding the preset feed rate to the feed rate compensation amount. The preset cable tension is added to the cable tension compensation amount to obtain the cable tension strategy; When the abnormal segment is started to be wired, the feeding speed and wire tension of the wire core to be processed are controlled by the wire-laying mechanism according to the wire-laying strategy.

2. The method according to claim 1, characterized in that, The cable tension compensation amount for the abnormal segment is calculated based on the basic parameters of the abnormal segment, the stranding angle difference, the pitch difference, the feed speed compensation amount, and the basic parameters of the multi-core cable. Specifically: ； in, This is the amount of cable tension compensation. For feed rate compensation, To preset the cable tension, is the coupling coefficient of cable tension-stretching angle, and k is the core deformation compensation coefficient.

3. The method according to claim 1, characterized in that, After controlling the feeding speed and tension of the wire laying mechanism on the wire core to be processed according to the wire laying strategy, the method further includes: The actual winding parameters of the wire core to be processed are detected, including the actual twisting angle and the actual pitch. Based on the winding standard of the multi-core cable to be processed, the actual winding parameters are evaluated to obtain a winding effect score. If the winding effect score is greater than or equal to a preset score threshold, the correspondence between the winding strategy of the core to be processed and the performance parameters of the core to be processed is stored in a preset winding strategy table, so as to provide a reliable winding strategy for the subsequent winding of the winding robot control system.

4. A multi-core cable routing system for robots, characterized in that, The system is a wiring robot control system, including an acquisition module (1), a processing module (2), and an execution module (3), wherein: 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 abnormal segments in the projection curve, wherein the abnormal segments are segments in the projection curve with a size error greater than 0, specifically: The projection curve is converted into multiple feature curves, including a slope curve, a variance curve, and a curvature curve. Performing difference operations on multiple characteristic curves respectively to obtain multiple difference curves, specifically including: Entropy value calculation is performed on the data points in the first characteristic curve to obtain the entropy value curve, wherein the first characteristic curve is any one of the multiple characteristic curves; Calculate the weight curve of the first feature curve based on the entropy curve; Based on the weight curve, the first feature curve is weighted and differencing is performed to obtain the difference curve; The performance parameters of the abnormal segment are matched with a preset wiring table to obtain the winding standard of the multi-core cable corresponding to the abnormal segment. The winding standard includes the twist angle and the pitch. 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 is calculated to obtain the twist angle difference and the pitch difference. Based on the twist angle difference and the pitch difference, the wiring strategy of the abnormal segment is determined. The wiring strategy includes feed speed compensation and wiring tension compensation, specifically: Acquire the basic parameters of the cable laying equipment, the basic parameters of the abnormal segment, and the basic parameters of the multi-core cable. The basic parameters of the cable laying equipment include the preset cable laying tension and the preset feeding speed. Based on the basic parameters of the cable laying equipment, the stranding angle difference, the pitch difference, and the basic parameters of the multi-core cable, the feed speed compensation amount for the abnormal segment is calculated, specifically as follows: ； in, For feed rate compensation, This is the pitch difference. The target pitch of the wire core to be processed. To preset the feeding speed, This is the difference in the twist angle. For the target twisting angle, Where r is the rotational speed of the winding equipment, and r is the twisting radius of the multi-core cable; The cable tension compensation amount for the abnormal segment is calculated based on the basic parameters of the abnormal segment, the twisting angle difference, the pitch difference, the feed speed compensation amount, and the basic parameters of the multi-core cable. The feed rate strategy is obtained by adding the preset feed rate to the feed rate compensation amount. The preset cable tension is added to the cable tension compensation amount to obtain the cable tension strategy; The execution module (3) is used to control the feeding speed and tension of the wire core to be processed by the wire laying mechanism according to the wire laying strategy when the abnormal segment is started to be laid.

5. An electronic device, characterized in that, The device 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 used to execute the instructions stored in the memory (305) to cause the electronic device (300) to perform the method as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed, perform the method as described in any one of claims 1 to 3.

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