Coaxial line assembling method, coaxial line assembling device and storage medium

Abstract

The invention relates to a coaxial line assembling method, a coaxial line assembling device and a storage medium. The coaxial line assembling method comprises the steps that an image is collected, the image comprises a line segment set, and the line segment set comprises line segments formed by a coaxial line in the image; extracting a coaxial line segment set from the line segment set, and extracting a target coaxial line segment to be assembled from the coaxial line segment set; and the target coaxial line segment is grabbed for assembly. By means of the coaxial line grabbing and assembling device, automatic grabbing and assembling of the coaxial lines are achieved, the problem that the grabbable coaxial lines are screened from multiple coaxial lines is solved, and guarantee is provided for coaxial line assembling.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence, and in particular to a coaxial cable assembly method, a coaxial cable assembly device, and a storage medium. Background Art

[0002] As the core component of mobile phone structure, coaxial cable has been th With the popularization of 5G (5th Generation Mobile Communication Technology), the number of coaxial cables on mobile phones will increase, and the automated assembly of coaxial cables is a difficult point in the entire industry.

[0003] Among the current automated applications of terminal assembly lines in the industry, automated assembly of coaxial cables is a difficult problem that all manufacturers have to overcome. The existing automated assembly of coaxial cables still has the problem that the incoming coaxial cables are bulk materials, which are difficult to automatically grasp and load. Summary of the Invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a coaxial cable assembly method, a coaxial cable assembly device and a storage medium.

[0005] According to a first aspect of an embodiment of the present disclosure, a coaxial line assembly method is provided, comprising acquiring an image, wherein the image includes a line segment set, and the line segment set includes line segments formed by the coaxial line in the image; extracting a coaxial line segment set from the line segment set, and extracting target coaxial line segments to be assembled from the coaxial line segment set; and grabbing the target coaxial line segments for assembly.

[0006] In one embodiment, extracting a coaxial line segment set from the line segment set includes: obtaining the end position distance and colinearity between each line segment in the line segment set, wherein the colinearity is used to determine whether one or more line segments meet the colinearity threshold to form a merged line segment; extracting line segments in the line segment set whose colinearity is less than the colinearity threshold, and merging the line segments in the line segment set whose colinearity is less than the colinearity threshold into the same line segment; determining the coaxial line segment set based on the merged line segments and the line segments whose end position distance is greater than the distance threshold.

[0007] In one embodiment, the coaxial line segment set is determined based on the merged line segments and the line segments whose end position distance is greater than the distance threshold, including: determining the line segments whose length after the merge is less than or equal to the length threshold and whose end position distance is greater than the distance threshold as the coaxial line segment set.

[0008] In one embodiment, the synlinearity includes segment angle, tangent distance, relative distance and merged distance; the synlinearity threshold includes segment angle threshold, tangent distance threshold, relative distance threshold and merged distance threshold; extracting segment with synlinearity less than the synlinearity threshold from the segment set includes: extracting segment with segment angle less than or equal to the synlinearity threshold, tangent distance less than or equal to the synlinearity threshold, relative distance less than or equal to the synlinearity threshold and merged distance less than or equal to the synlinearity threshold.

[0009] In one embodiment, extracting the target coaxial line segments to be assembled from the coaxial line segment set includes: calculating the center point coordinates of the merged line segments in the coaxial line segment set and presetting a radius threshold; drawing a circular area based on the radius threshold and with the center point coordinates as the center of the circle, and extracting the line segments that have no intersection with the merged line segments in the coaxial line segment set as the target coaxial line segments to be assembled.

[0010] In one embodiment, the line segment set is determined by removing noise from the image and fitting the line segment contours of the noise-removed line segments in the image, where the line segment contours are determined based on two endpoints; and determining the line segment set based on the line segment contours.

[0011] According to a second aspect of an embodiment of the present disclosure, a coaxial line assembly device is provided, comprising an acquisition unit for acquiring an image, wherein the image comprises a line segment set, wherein the line segment set comprises line segments formed by a coaxial line in the image; an extraction unit for extracting a coaxial line segment set from the line segment set, and extracting a target coaxial line segment to be assembled from the coaxial line segment set; and an assembling unit for grabbing the target coaxial line segment for assembly.

[0012] In one embodiment, the extraction unit extracts a coaxial line segment set from the line segment set in the following manner: obtaining the end position distance and colinearity between each line segment in the line segment set, wherein the colinearity is used to determine whether one or more line segments meet the colinearity threshold to form a merged line segment; extracting line segments in the line segment set whose colinearity is less than the colinearity threshold, and merging line segments in the line segment set whose colinearity is less than the colinearity threshold into the same line segment; determining the coaxial line segment set based on the merged line segments and the line segments whose end position distance is greater than the distance threshold.

[0013] In one embodiment, the extraction unit determines the coaxial line segment set based on the merged line segments and the line segments whose end position distance is greater than the distance threshold in the following manner: the line segments whose length after the merge is less than or equal to the length threshold and whose end position distance is greater than the distance threshold are determined as the coaxial line segment set.

[0014] In one embodiment, the synlinearity includes segment angle, tangent distance, relative distance and merged distance; the synlinearity threshold includes segment angle threshold, tangent distance threshold, relative distance threshold and merged distance threshold; extracting segment with synlinearity less than the synlinearity threshold from the segment set includes: extracting segment with segment angle less than or equal to the synlinearity threshold, tangent distance less than or equal to the synlinearity threshold, relative distance less than or equal to the synlinearity threshold and merged distance less than or equal to the synlinearity threshold.

[0015] In one embodiment, the extraction unit extracts the target coaxial line segments to be assembled from the coaxial line segment set in the following manner: calculating the center point coordinates of the merged line segments in the coaxial line segment set and presetting a radius threshold; based on the radius threshold and with the center point coordinates as the center of the circle, a circular area is drawn to extract the line segments that have no intersection with the merged line segments in the coaxial line segment set as the target coaxial line segments to be assembled.

[0016] In one embodiment, the line segment set is determined by removing noise from the image and fitting the line segment contours of the noise-removed line segments in the image, where the line segment contours are determined based on two endpoints; and determining the line segment set based on the line segment contours.

[0017] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to: execute the coaxial cable assembly method described in any one of the embodiments of the first aspect or the second aspect.

[0018] According to a fourth aspect of an embodiment of the present disclosure, a storage medium is provided, in which instructions are stored. When the instructions in the storage medium are executed by a processor, the processor is enabled to execute the coaxial cable assembly method described in the first aspect or any one of the embodiments of the first aspect.

[0019] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: an image is captured, the image includes a line segment set, and the line segment set includes line segments formed by coaxial lines in the image. A coaxial line segment set is extracted from the line segment set, and the target coaxial line segments to be assembled are extracted from the coaxial line segment set, and the target coaxial line segments are grasped for assembly. The present disclosure realizes the automated grasping and assembly of coaxial lines, solves the problem of screening graspable coaxial lines from a large number of coaxial lines, and provides a guarantee for the assembly of coaxial lines.

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

[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0022] Figure 1 The figure is a flow chart showing a coaxial line assembly method according to an exemplary embodiment.

[0023] Figure 2 The figure is a schematic diagram of a scene showing a line segment distribution form according to an exemplary embodiment.

[0024] Figure 3 The figure is a flowchart showing a method for extracting a coaxial line segment set according to an exemplary embodiment.

[0025] Figure 4 The figure is a schematic diagram of a scenario of line segment length screening according to an exemplary embodiment.

[0026] Figure 5 The figure is a schematic diagram of a line segment scene according to an exemplary embodiment.

[0027] Figure 6 The figure is a schematic diagram of a scene showing merged line segments according to an exemplary embodiment.

[0028] Figure 7 The figure is a flowchart showing a method for extracting target coaxial line segments to be assembled according to an exemplary embodiment.

[0029] Figure 8 The figure is a schematic diagram showing a scenario of a target coaxial line segment to be assembled according to an exemplary embodiment.

[0030] Figure 9 The figure is a flowchart of a method for determining a line segment set according to an exemplary embodiment.

[0031] Figure 10 The figure is a schematic diagram showing a scenario of removing noise segments according to an exemplary embodiment.

[0032] Figure 11 The figure is a schematic diagram showing a scenario of removing noise segments according to an exemplary embodiment.

[0033] Figure 12 The figure is a flowchart of a method for determining a line segment set according to an exemplary embodiment.

[0034] Figure 13 The figure is a block diagram of a coaxial line assembly device according to an exemplary embodiment.

[0035] Figure 14The figure is a block diagram of a device for assembling a coaxial line according to an exemplary embodiment. DETAILED DESCRIPTION

[0036] Exemplary embodiments are described in detail herein, with examples illustrated in the accompanying drawings. When the following description refers to the drawings, identical numerals in different drawings represent identical or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present disclosure.

[0037] Coaxial cables are core components in mobile phone structures. With the popularization of 5G technology, the number of coaxial cables in mobile phones will increase. The automated assembly of coaxial cables is a challenge for the entire industry. Currently, in the automated application of terminal assembly lines in the industry, the automated assembly of coaxial cables is a difficult problem that manufacturers are tackling. The existing automated assembly of coaxial cables still has the problem that the coaxial cables are incoming in bulk, making it difficult to automatically grasp and load them. In addition, due to the large number of coaxial cables on the tray and the random position and posture of the coaxial cables, when capturing coaxial cable images, there are problems such as large areas of a single coaxial cable being outside the image field of view, and most coaxial cable segments directly overlapping.

[0038] In view of this, the present disclosure proposes a coaxial line assembly method.

[0039] In the embodiment of the present disclosure, a coaxial line segment set in an image containing a line segment set is determined, and target coaxial line segments in the coaxial line segment set are extracted, and the target coaxial line segments are captured and assembled.

[0040] Figure 1 FIG. 1 is a flow chart showing a coaxial line assembly method according to an exemplary embodiment. Figure 1 As shown, the method includes steps S11 to S13.

[0041] In step S11 , an image is collected, the image including a set of line segments, and the set of line segments includes line segments formed by coaxial lines in the image.

[0042] In the embodiment of the present disclosure, an image is captured, wherein the image includes a line segment set, wherein the line segment set represents the line segments formed by the coaxial line in the image. It can be understood that the line segment set includes at least two line segments, the positions and postures of the line segments in the line segment set are random, and there are overlapping line segments. Figure 2 As shown, Figure 2 The figure is a schematic diagram of a scene showing a line segment distribution form according to an exemplary embodiment. Figure 2 The included line segment set represents the line segments formed by the coaxial lines in the image, and the positions and postures of the line segments are random, and there are overlapping line segments.

[0043] In step S12 , a coaxial line segment set is extracted from the line segment set, and a target coaxial line segment to be assembled is extracted from the coaxial line segment set.

[0044] In the disclosed embodiment, a coaxial line set is extracted from a line segment set including line segments formed by coaxial lines in an image, and a target coaxial line segment to be assembled is extracted from the coaxial line segment set. It is understood that the line segment set includes the coaxial line segment set, and the coaxial line segment set includes the target coaxial line segment. That is, the coaxial line segment set is extracted from the line segment set, and the target coaxial line segment is extracted from the coaxial line segment set.

[0045] In step S13 , the target coaxial line segment is grabbed and assembled.

[0046] In the embodiment of the present disclosure, a coaxial line segment set is extracted from the line segment set, and a target coaxial line segment is extracted from the coaxial line segment set, that is, the target coaxial line segment is determined, and the target coaxial line segment is grabbed for assembly, so as to realize the extraction of grabbable coaxial line segments from the line segment set for assembly.

[0047] In the embodiment of the present disclosure, based on collecting a line segment set including line segments formed by coaxial lines in an image, extracting a coaxial line segment set from the line segment set, extracting target coaxial line segments from the coaxial line segment set, and grasping and assembling the target coaxial line segments, a vision-based automatic recognition and grasping method for coaxial line is realized, which solves the problem of screening graspable coaxial lines among intersecting coaxial lines and provides a guarantee for the automated assembly of coaxial lines.

[0048] In the embodiment of the present disclosure, a coaxial line segment set is extracted from a line segment set based on the calculation of colinearity.

[0049] Figure 3 FIG. 1 is a flow chart showing a method for extracting a set of coaxial line segments according to an exemplary embodiment. Figure 3 As shown, the method includes steps S21 to S23.

[0050] In step S21 , the end position distance and the degree of colinearity between the line segments in the line segment set are obtained.

[0051] In the disclosed embodiment, the end position distances between line segments in a line segment set are calculated, and the colinearity between the line segments is calculated, wherein the colinearity is used to determine whether one or more line segments meet a colinearity threshold to form a merged line segment. It is understood that if the colinearity between the line segments meets the colinearity threshold, a merged line segment can be formed. If the colinearity between the line segments does not meet the colinearity threshold, that is, a merged line segment cannot be formed, the line segment can be calculated with another line segment to determine whether it meets the colinearity threshold to form a merged line segment.

[0052] In step S22 , line segments with a synlinearity smaller than a synlinearity threshold value in the line segment set are extracted, and line segments with a synlinearity smaller than the synlinearity threshold value in the line segment set are merged into the same line segment.

[0053] In the embodiment of the present disclosure, if the colinearity between line segments is less than the colinearity threshold, the line segments in the line segment set with colinearity less than the colinearity threshold are extracted, and the line segments in the line segment set with colinearity less than the colinearity threshold are merged into the same line segment. It can be understood that if there are no line segments that meet the colinearity threshold in the line segment set, the material tray device where the coaxial line is located can be shaken, that is, the position and posture of the current coaxial line can be changed, and the image including the line segment set can be re-collected, and the line segments in the line segment set with colinearity less than the colinearity threshold can be re-judged, and the line segments in the line segment set with colinearity less than the colinearity threshold can be extracted, and the line segments in the line segment set with colinearity less than the colinearity threshold can be merged into the same line segment.

[0054] In step S23 , a coaxial line segment set is determined based on the merged line segments and line segments whose end position distance is greater than a distance threshold.

[0055] In the embodiment of the present disclosure, based on the line segments in the line segment set whose colinearity is less than the colinearity threshold and the line segments whose end position distance is greater than the distance threshold, the merged line segments are determined to be the coaxial line segment set. That is, the coaxial line segment set includes the merged line segments.

[0056] In the embodiment of the present disclosure, based on calculating the colinearity between line segments, a coaxial line segment set is extracted from a line segment set, which increases the accuracy of determining the coaxial line segments and avoids the situation where intersecting coaxial lines are determined as one coaxial line.

[0057] In the embodiment of the present disclosure, a coaxial line segment set is determined based on the merged line segments and line segments whose end position distance is greater than a distance threshold.

[0058] In the embodiment of the present disclosure, line segments whose colinearity is less than the colinearity threshold are extracted from the line segment set, and line segments in the line segment set that meet the colinearity threshold are merged into the same line segment. If the length of the merged line segment is less than or equal to the length threshold, and the end position distance is greater than the distance threshold, it is determined to be a coaxial line segment set. For example, the length threshold can be 10 mm. The length of the merged line segment is detected. If the length of the merged line segment is less than or equal to 10 mm, and the end position distance with another merged line segment is greater than the distance threshold, it is determined to be a coaxial line segment. All the above-mentioned line segments that meet the condition that the length of the merged line segment is less than or equal to the length threshold and the end position is greater than the distance threshold are determined to be a coaxial line segment set.

[0059] In the embodiment of the present disclosure, Figure 4FIG. 1 is a schematic diagram of a scenario of segment length screening according to an exemplary embodiment. Figure 4 As shown, Figure 4 Including solid line set and dotted line set, the realization set can be understood as a set of coaxial line segments. That is, the length of the merged line segment is less than or equal to the length threshold, and the end position distance is greater than the distance threshold. Figure 4 The solid line set in the is the coaxial line segment set. The remaining dashed line set is the line segments that do not meet the requirements. The line segments in the dashed line set are filtered out, and the coaxial line segment set in the solid line set is retained. The solid and dashed lines in the embodiments of the present disclosure are only for illustrative purposes and have no practical significance.

[0060] In the embodiment of the present disclosure, a coaxial line segment set is predetermined to avoid the situation where two line segments are connected and cannot be identified. At the same time, it is convenient to extract the target coaxial line segment from the coaxial line segment set, thereby improving the working efficiency of the automation equipment.

[0061] In an embodiment of the present disclosure, line segments in a line segment set whose colinearity is less than a colinearity threshold are merged into the same line segment, wherein the colinearity includes the line segment angle, tangent distance, relative distance and merged distance. Among them, the line segment angle can be calculated based on the vector angle and dot product to preliminarily determine whether they are on the same straight line. The tangent distance can be understood as the vertical distance from one line segment to another line segment, which can be further used to determine whether they are on the same straight line. The relative distance can be understood as the distance between line segments. The merged distance can be understood as the maximum distance after at least two line segments are merged and are on the same straight line.

[0062] In the disclosed embodiment, the colinearity thresholds include a line segment angle threshold, a tangent distance threshold, a relative distance threshold, and a merge distance threshold. The line segment angle threshold is used to determine whether line segments are colinear based on the angle between them, the tangent distance threshold is used to determine whether line segments are colinear based on the tangent distance between them, the relative distance threshold is used to determine whether line segments are colinear based on the relative distance between them, and the merge distance threshold is used to determine whether line segments are colinear based on the distance after merging.

[0063] In the embodiment of the present disclosure, by extracting line segments whose line segment angle is less than or equal to the synlinearity threshold, whose tangent distance is less than or equal to the synlinearity threshold, whose relative distance is less than or equal to the synlinearity threshold, and whose combined distance is less than or equal to the synlinearity threshold, line segments with synlinearity less than the synlinearity threshold in the line segment set are extracted. For example, the line segment angle can be calculated based on the vector angle and dot product to preliminarily determine whether they are on the same straight line. For example, the line segment angle threshold can be a preset angle, such as 0.2, that is, if the angle between two line segments is less than 0.2, then the two line segments can be preliminarily considered to be on the same straight line. Further, the tangent distance between the line segments is determined. The tangent distance can be understood as the perpendicular distance from one line segment to another line segment. If the perpendicular distance from one line segment to another line segment is less than the tangent distance threshold, then the two line segments can be considered to be on the same straight line. Among them, the tangent distance threshold can be a preset distance, such as 80. If the perpendicular distance from one line segment to another line segment is less than 80, then it can be considered to be on the same straight line. Further determination of whether line segments are on the same straight line can be made using relative distance. Relative distance can be understood as the distance between line segments relative to their lengths. If the relative distance between line segments is less than a relative distance threshold, at least two line segments can be considered to be on the same straight line. The relative distance threshold can be a preset distance, such as 5. Furthermore, the maximum distance after merging the line segments is determined. If the merged distance of at least two line segments is less than a merge distance threshold, at least two line segments can be considered to be on the same straight line. The merge distance threshold can be a preset threshold, such as 300. If the merged distance of at least two line segments is less than or equal to 300, at least two merged line segments are considered to be on the same straight line and can be merged into the same line segment.

[0064] In one example, Figure 5 FIG. 1 is a schematic diagram of a line segment scene according to an exemplary embodiment. Figure 5 As shown, every two endpoints or intersection points determine a line segment, for example Figure 5 If b2 in the equation intersects both the left and right vertical lines, it can be confirmed that b2 is a line segment, and the same is true for a2 and c2. Figure 5 The synteny between a2, b2, and c2 in the MATLAB code is to calculate the segment angle, tangent distance, relative distance, and merge distance between a2, b2, and c2, and compare them with the synteny threshold to determine whether they can be merged into the same segment.

[0065] In one example, Figure 6 FIG. 1 is a schematic diagram of a scene of merged line segments according to an exemplary embodiment. Figure 6As shown, based on the calculation of the line segment angle, tangent distance, relative distance and merged distance between a3, b3 and c3, and comparing them with the same linearity threshold, it is determined that the line segment angle, tangent distance, relative distance and merged distance between a3, b3 and c3 are less than or equal to the same linearity threshold, then a3, b3 and c3 can be merged into the same line segment, that is, Figure 6 The solid line formed by a3, b3, and c3.

[0066] In the embodiment of the present disclosure, based on calculating the colinearity of the line segments in the line segment set, the accuracy of determining the target coaxial line segment is improved.

[0067] In the embodiment of the present disclosure, target coaxial line segments to be assembled are extracted based on drawing a circular area.

[0068] Figure 7 FIG. 1 is a flow chart showing a method for extracting target coaxial line segments to be assembled according to an exemplary embodiment. Figure 7 As shown, the method includes steps S31 to S32.

[0069] In step S31 , the center point coordinates of the merged segments in the coaxial line segment set are calculated, and a radius threshold is preset.

[0070] In the embodiment of the present disclosure, after the coaxial line set is determined, the center coordinates of the merged line segments in the coaxial line segment set are calculated, and a radius threshold is preset.

[0071] In step S32 , a circular area is drawn based on the radius threshold and with the center point coordinates as the center, and line segments that have no intersection with the merged line segments in the coaxial line segment set are extracted as target coaxial line segments to be assembled.

[0072] In the embodiment of the present disclosure, based on a preset radius threshold, a circular area is drawn with the center coordinates of the merged line segments in the coaxial line segment set as the center of the circle, and line segments that intersect with line segments in the coaxial line segment set are eliminated, and line segments that do not intersect with the merged line segments in the coaxial line segment set are extracted, and the extracted line segments are used as target coaxial line segments to be assembled. Figure 8 FIG. 1 is a schematic diagram of a target coaxial line segment to be assembled according to an exemplary embodiment. Figure 8 As shown, the solid line set can be understood as the set of line segments that intersect with the line segments in the coaxial line segment set, and the dotted line set can be understood as the line segments that do not intersect with the line segments after merging in the coaxial line segment set. Based on the determination of the coordinates of the center point of the line segment, and with this point as the center of the circle, a circular area is drawn based on a preset radius threshold, wherein the line segments in the circular area that do not intersect with other line segments are retained, that is, the dotted line set is retained, and the line segments in the dotted line set will be used as the target coaxial line segments to be assembled. The line segments in the circular area that intersect with other line segments are eliminated, that is, the solid line set is eliminated.

[0073] In the embodiment of the present disclosure, based on determining the coordinates of the center point of the line segment and taking this point as the center of the circle, a circular area is drawn based on a pre-set radius threshold, and line segments that have no intersection with the merged line segments in the coaxial line segment set are extracted as the target coaxial line segments to be assembled. Overlapping coaxial lines can be eliminated, solving the problem of screening target coaxial line segments from a large number of intersecting coaxial lines.

[0074] Figure 9 FIG. 1 is a flow chart showing a method for determining a line segment set according to an exemplary embodiment. Figure 9 As shown, the method includes steps S41 to S42.

[0075] In step S41 , the noise of the image is removed, and the line segment contour of the noise-removed line segment in the image is extracted by fitting, where the line segment contour is determined based on two endpoints.

[0076] In the disclosed embodiments, noise is removed from the image by convolving the image with a Gaussian filter mask. This involves removing pixels in the image that are smaller than a fitting threshold. The fitting threshold can be set arbitrarily and can be understood as determining whether the fitted data can represent a line segment. After preliminary noise removal, the contours of the noise-removed line segments in the image are extracted through fitting. Line segment contours greater than the fitting threshold are determined as sub-segments. The noise removal method in the disclosed embodiments is merely illustrative and is not specifically limited in this disclosure.

[0077] In one example, Figure 10 FIG. 1 is a schematic diagram of a scenario for removing noise segments according to an exemplary embodiment. Figure 10 As shown in Figure 1, the circular area is the noise in the image. The Gaussian filter mask can be convolved with the image to remove the noise in the image and retain the line segment set.

[0078] In step S42 , a line segment set is determined based on the line segment outlines.

[0079] In one example, Figure 11 FIG. 1 is a schematic diagram of a scenario for removing noise segments according to an exemplary embodiment. Figure 11 As shown, Figure 11 The set includes solid lines, wide dashed lines and thin dashed lines. It can be understood that the endpoints of different line segments and the intersections between different line segments constitute the solid line set, wide dashed line set and thin dashed line set. For example Figure 11 A line segment composed of a1, b1, c1, d1 and e1 is divided into five line segments a1, b1, c1, d1, e1 through the intersection and endpoints, which can also prepare for the screening of coaxial line segments.

[0080] In the disclosed embodiment, a line segment set can be determined based on the line segment profile determined by two endpoints. By removing short, thin, and noisy line segments from the line segment set, the precision and accuracy of determining the target coaxial line segment are improved. In the disclosed embodiment, a coaxial line assembly method is described.

[0081] Figure 12 FIG. 1 is a flow chart showing a method for determining a line segment set according to an exemplary embodiment. Figure 12 As shown, the method includes the following.

[0082] In the embodiment of the present disclosure, an image is taken of the coaxial line of the incoming material tray, and the image includes at least one coaxial line segment. The noise in the image is removed by convolving the image with a Gaussian filter mask, that is, the pixels in the image that are smaller than the fitting threshold are removed, wherein the fitting threshold can be understood as a judgment of whether it can represent the fitting data to form a sub-segment. After the noise in the image is preliminarily removed, the line segment contours of the coaxial line segments in the image are extracted by fitting, and the line segment contours that are larger than the fitting threshold are determined as sub-segments. The method of removing noise in the embodiment of the present disclosure is only an illustrative description and is not specifically limited in the present disclosure.

[0083] In the disclosed embodiment, after screening at least one coaxial line segment in an image, the remaining coaxial line segments in the image are determined as sub-line segments, and the distance between the end positions of the sub-line segments is calculated, as well as the degree of colinearity between the sub-line segments. The degree of colinearity indicates that two or more line segments or geometric figures are on the same straight line and have the same direction. In other words, the degree of colinearity is used to determine whether at least two line segments are on the same straight line.

[0084] In the embodiment of the present disclosure, the degree of colinearity is calculated, and the degree of colinearity may include the line segment angle, tangent distance, relative distance, and maximum distance after merging. Among them, the line segment angle can be calculated based on the vector angle and dot product to preliminarily determine whether it is on the same straight line. For example, if the angle between two line segments is less than the line segment angle threshold, it can be preliminarily considered that the two line segments are on the same straight line. Among them, the line segment angle threshold can be a preset angle, such as 0.2, that is, if the angle between the two line segments is less than 0.2, it can be preliminarily considered that the two line segments are on the same straight line. Further, the tangent distance between the line segments is determined. The tangent distance can be understood as the perpendicular distance from one line segment to another line segment. If the perpendicular distance from one line segment to another line segment is less than the tangent distance threshold, it can be considered that the two line segments are on the same straight line. Among them, the tangent distance threshold can be a preset distance, such as 80.

[0085] In the disclosed embodiment, relative distance can be used to further determine whether line segments are on the same straight line. Relative distance can be understood as the distance between line segments relative to their lengths. If the relative distance between the line segments is less than a relative distance threshold, it can be considered that at least two line segments are on the same straight line. The relative distance threshold can be a preset distance, such as 5. Furthermore, the maximum distance after merging the line segments is determined. If the maximum distance after merging the at least two line segments is less than a merge distance threshold, it can be considered that at least two line segments are on the same straight line. The merge distance threshold can be a preset threshold, such as 300.

[0086] In the disclosed embodiment, based on the calculation of the degree of synteny between sub-segments, the line segments that meet the threshold limit are merged and spliced ​​to obtain the merged line segments, i.e., the merged line segments. The merged line segments are screened for length. If the merged line segments are less than the length threshold, the merged line segments less than the length threshold are retained. If there are merged line segments with a length greater than the length threshold, the merged line segments with a length greater than the length threshold are discarded.

[0087] In the disclosed embodiment, the coordinates of the centers of the merged line segments that meet the length threshold are calculated, and a radius threshold is pre-set. A circular area is drawn with the center coordinates as the center and the pre-set radius threshold as the radius. Line segments that intersect with other line segments within the circular area are removed, while line segments that do not intersect with other line segments within the circular area are retained. Thus, overlapping line segments are removed. The retained line segments are the target coaxial line segments, and the target coaxial line segments are captured for assembly. This enables automatic capture of coaxial lines.

[0088] In the disclosed embodiments, the vision-based automatic grasping of coaxial lines enables the identification and fitting of segments that meet the requirements within the interlaced coaxial line material. It can also dynamically select coaxial line segments that can be grasped and eliminate those that cannot be grasped, thus ensuring the automated assembly of coaxial lines. This avoids the problem of overlapping coaxial lines and the inability to accurately grasp them due to the large number of coaxial lines, the random positions and postures of the coaxial lines, and the inability to grasp them accurately.

[0089] Based on the same concept, an embodiment of the present disclosure further provides a coaxial line assembly device 100 .

[0090] It is understandable that the coaxial line assembly device 100 provided in the embodiment of the present disclosure includes hardware structures and / or software modules corresponding to the execution of each function in order to realize the above functions. In combination with the units and algorithm steps of each example disclosed in the embodiment of the present disclosure, the embodiment of the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiment of the present disclosure.

[0091] Figure 13 FIG. 1 is a block diagram of a coaxial line assembly device 100 according to an exemplary embodiment. Figure 13 The device includes a collection unit 101, an extraction unit 102 and an assembly unit 103.

[0092] The acquisition unit 101 is configured to acquire an image, wherein the image includes a line segment set, and the line segment set includes line segments formed by coaxial lines in the image.

[0093] The extraction unit 102 is configured to extract a coaxial line segment set from the line segment set, and extract a target coaxial line segment to be assembled from the coaxial line segment set.

[0094] The assembling unit 103 is used to grab the target coaxial line segment for assembly.

[0095] In one embodiment, the extraction unit 102 extracts a coaxial line segment set from a line segment set in the following manner: obtaining the end position distance and colinearity between each line segment in the line segment set, wherein the colinearity is used to determine whether one or more line segments meet the colinearity threshold to form a merged line segment; extracting line segments in the line segment set whose colinearity is less than the colinearity threshold, and merging line segments in the line segment set that meet the colinearity threshold into the same line segment; determining the coaxial line segment set based on the merged line segments and the line segments whose end position distance is greater than the distance threshold.

[0096] In one embodiment, the extraction unit 102 determines the coaxial line segment set based on the merged line segments and the line segments whose end position distance is greater than the distance threshold in the following manner: the line segments whose length after the merger is less than or equal to the length threshold and whose end position distance is greater than the distance threshold are determined as the coaxial line segment set.

[0097] In one embodiment, synlinearity includes segment angle, tangent distance, relative distance and merged distance; synlinearity threshold includes segment angle threshold, tangent distance threshold, relative distance threshold and merged distance threshold; extracting segment with synlinearity less than synlinearity threshold in segment set includes: extracting segment with segment angle less than or equal to synlinearity threshold, tangent distance less than or equal to synlinearity threshold, relative distance less than or equal to synlinearity threshold and merged distance less than or equal to synlinearity threshold.

[0098] In one embodiment, the extraction unit 102 extracts the target coaxial line segments to be assembled from the coaxial line segment set in the following manner: calculates the center point coordinates of the merged line segments in the coaxial line segment set, and presets a radius threshold; based on the radius threshold and with the center point coordinates as the center of the circle, draws a circular area, and extracts the line segments that have no intersection with the merged line segments in the coaxial line segment set as the target coaxial line segments to be assembled.

[0099] In one embodiment, the line segment set is determined by removing noise from the image and fitting the line segment contours of the noise-removed line segments in the image, where the line segment contours are determined based on two endpoints; and determining the line segment set based on the line segment contours.

[0100] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0101] Figure 14 FIG2 is a block diagram illustrating an apparatus 200 for coaxial cable assembly according to an exemplary embodiment. Apparatus 200 may be provided as a terminal. For example, apparatus 200 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like.

[0102] Reference Figure 14 , apparatus 200 may include one or more of the following components: a processing component 202 , a memory 204 , a power component 206 , a multimedia component 208 , an audio component 210 , an input / output (I / O) interface 212 , a sensor component 214 , and a communication component 216 .

[0103] The processing component 202 generally controls the overall operation of the device 200, such as operations associated with display, phone calls, data communications, camera operation, and recording operations. The processing component 202 may include one or more processors 220 to execute instructions to perform all or part of the steps of the above-described method. In addition, the processing component 202 may include one or more modules to facilitate interaction between the processing component 202 and other components. For example, the processing component 202 may include a multimedia module to facilitate interaction between the multimedia component 208 and the processing component 202.

[0104] The memory 204 is configured to store various types of data to support operations on the device 200. Examples of such data include instructions for any application or method operating on the device 200, contact data, phone book data, messages, pictures, videos, etc. The memory 204 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0105] The power component 206 provides power to the various components of the device 200. The power component 206 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device 200.

[0106] The multimedia component 208 includes a screen that provides an output interface between the device 200 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 208 includes a front camera and / or a rear camera. When the device 200 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0107] The audio component 210 is configured to output and / or input audio signals. For example, the audio component 210 includes a microphone (MIC) that is configured to receive external audio signals when the device 200 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 204 or transmitted via the communication component 216. In some embodiments, the audio component 210 further includes a speaker for outputting audio signals.

[0108] I / O interface 212 provides an interface between processing component 202 and peripheral interface modules, such as a keyboard, click wheel, buttons, etc. These buttons may include but are not limited to: a home button, volume buttons, a start button, and a lock button.

[0109] The sensor assembly 214 includes one or more sensors for providing various aspects of the status assessment of the device 200. For example, the sensor assembly 214 can detect the open / closed state of the device 200, the relative positioning of components, such as the display and keypad of the device 200. The sensor assembly 214 can also detect changes in the position of the device 200 or a component of the device 200, the presence or absence of user contact with the device 200, the orientation or acceleration / deceleration of the device 200, and temperature changes of the device 200. The sensor assembly 214 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 214 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 214 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0110] The communication component 216 is configured to facilitate wired or wireless communication between the device 200 and other devices. The device 200 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 216 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 216 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0111] In an exemplary embodiment, the apparatus 200 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described method.

[0112] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as the memory 204 including instructions, which can be executed by the processor 220 of the apparatus 200 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0113] It is understood that in this disclosure, "plurality" refers to two or more than two, and other quantifiers are similar. "And / or" describes the association relationship of related objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects before and after are in an "or" relationship. The singular forms "a", "the" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0114] It will be further understood that the terms "first," "second," and the like are used to describe various types of information, but such information should not be limited to these terms. These terms are used solely to distinguish information of the same type from one another and do not indicate a particular order or level of importance. In fact, the terms "first," "second," and the like are fully interchangeable. For example, first information could be referred to as second information, and similarly, second information could be referred to as first information without departing from the scope of this disclosure.

[0115] It can be further understood that the terms "center", "longitudinal", "lateral", "front", "back", "up", "down", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this embodiment and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation.

[0116] It is further understood that, unless otherwise specified, “connection” includes a direct connection where there are no other components between the two elements, and also includes an indirect connection where there are other elements between the two elements.

[0117] It is further understood that although operations are described in a particular order in the drawings in the embodiments of the present disclosure, this should not be construed as requiring that the operations be performed in the particular order shown or in a serial order, or that all of the operations shown be performed to obtain the desired results. In certain circumstances, multitasking and parallel processing may be advantageous.

[0118] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein.

[0119] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the scope of the appended claims.

Claims

1. A coaxial cable assembly method, characterized in that: include: Acquire an image, wherein the image includes a set of line segments, and the set of line segments includes line segments formed by coaxial lines in the image; Extracting a coaxial line segment set from the line segment set, and extracting a target coaxial line segment to be assembled from the coaxial line segment set; Grab the target coaxial line segment for assembly.

2. The method according to claim 1, characterized in that Extracting the coaxial line segment set from the line segment set includes: Obtaining the end position distance and the colinearity between each line segment in the line segment set, wherein the colinearity is used to determine whether one or more line segments meet the colinearity threshold to form a merged line segment; Extracting line segments whose synlinearity is less than a synlinearity threshold value from the line segment set, and merging line segments whose synlinearity is less than the synlinearity threshold value from the line segment set into a same line segment; A coaxial line segment set is determined based on the merged line segments and line segments whose end position distance is greater than a distance threshold.

3. The method according to claim 2, characterized in that The determining of the coaxial line segment set based on the merged line segments and the line segments whose end position distance is greater than a distance threshold includes: The line segments whose lengths after merging are less than or equal to a length threshold and whose end position distances are greater than a distance threshold are determined as a coaxial line segment set.

4. The method according to claim 2 or 3, characterized in that The synteny includes segment angle, tangent distance, relative distance and merged distance; The co-linearity thresholds include segment angle thresholds, tangent distance thresholds, relative distance thresholds, and merge distance thresholds; The extracting of line segments whose synlinearity is less than a synlinearity threshold from the line segment set includes: Extract line segments whose line segment angle is less than or equal to the synlinearity threshold, whose tangent distance is less than or equal to the synlinearity threshold, whose relative distance is less than or equal to the synlinearity threshold, and whose merged distance is less than or equal to the synlinearity threshold.

5. The method according to claim 1, wherein Extracting target coaxial line segments to be assembled from the coaxial line segment set includes: Calculating the center point coordinates of the merged line segments in the coaxial line segment set and presetting a radius threshold; Based on the radius threshold and taking the center point coordinates as the center of the circle, a circular area is drawn, and line segments that have no intersection with the merged line segments in the coaxial line segment set are extracted as target coaxial line segments to be assembled.

6. The method according to claim 1, characterized in that The line segment set is determined in the following manner: removing noise from the image, and fitting and extracting a line segment profile of a line segment from the image from which the noise is removed, wherein the line segment profile is determined based on two endpoints; Based on the line segment contours, a line segment set is determined.

7. A coaxial cable assembly device, characterized in that: include: An acquisition unit, configured to acquire an image, wherein the image includes a set of line segments, and the set of line segments includes line segments formed by coaxial lines in the image; an extraction unit, configured to extract a coaxial line segment set from the line segment set, and extract a target coaxial line segment to be assembled from the coaxial line segment set; An assembling unit is used to grab the target coaxial line segment for assembly.

8. The device according to claim 7, characterized in that The extraction unit extracts the coaxial line segment set from the line segment set in the following manner: Obtaining the end position distance and the colinearity between each line segment in the line segment set, wherein the colinearity is used to determine whether one or more line segments meet the colinearity threshold to form a merged line segment; Extracting line segments whose synlinearity is less than a synlinearity threshold value from the line segment set, and merging line segments whose synlinearity meets the synlinearity threshold value from the line segment set into the same line segment; A coaxial line segment set is determined based on the merged line segments and line segments whose end position distance is greater than a distance threshold.

9. The device according to claim 8, characterized in that The extraction unit determines the coaxial line segment set based on the merged line segments and the line segments whose end position distance is greater than the distance threshold in the following manner: The line segments whose lengths after merging are less than or equal to a length threshold and whose end position distances are greater than a distance threshold are determined as a coaxial line segment set.

10. The device according to claim 8 or 9, characterized in that The synteny includes segment angle, tangent distance, relative distance and merged distance; The co-linearity thresholds include segment angle thresholds, tangent distance thresholds, relative distance thresholds, and merge distance thresholds; The extracting of line segments whose synlinearity is less than a synlinearity threshold from the line segment set includes: Extract line segments whose line segment angle is less than or equal to the synlinearity threshold, whose tangent distance is less than or equal to the synlinearity threshold, whose relative distance is less than or equal to the synlinearity threshold, and whose merged distance is less than or equal to the synlinearity threshold.

11. The device according to claim 7, characterized in that The extraction unit extracts the target coaxial line segment to be assembled from the coaxial line segment set in the following manner: Calculating the center point coordinates of the merged line segments in the coaxial line segment set and presetting a radius threshold; Based on the radius threshold and taking the center point coordinates as the center of the circle, a circular area is drawn, and line segments that have no intersection with the merged line segments in the coaxial line segment set are extracted as target coaxial line segments to be assembled.

12. The device according to claim 7, characterized in that The line segment set is determined in the following manner: removing noise from the image, and fitting and extracting a line segment profile of a line segment from the image from which the noise is removed, wherein the line segment profile is determined based on two endpoints; Based on the line segment contours, a line segment set is determined.

13. An electronic device, characterized in that: include: processor: a memory for storing processor-executable instructions; Wherein, the processor is configured to: execute the coaxial line assembly method according to any one of claims 1 to 6.

14. A storage medium, characterized in that The storage medium stores instructions, and when the instructions in the storage medium are executed by a processor, the processor is enabled to execute the coaxial line assembly method according to any one of claims 1 to 6.

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