Wire harness terminal coating tool flatness detection method and system and storage medium

Abstract

The invention provides a wire harness terminal coating tool flatness detection method and system and a storage medium, and the method comprises the steps: respectively determining image data and laser stripe data through preset image collection equipment and preset laser projection equipment, so as to determine two-dimensional coordinate data and deformation data of each edge on a coating tool; determining edge three-dimensional data according to the two-dimensional coordinate data and calibration parameters of preset image acquisition equipment; determining a positioning pin coordinate according to an image corresponding to a preset positioning pin in the image data so as to construct a virtual surface according to the positioning pin coordinate, and correcting the virtual surface according to the deformation data so as to determine a virtual reference surface; and determining the overall inclination angle of the tool and the height difference of the adjacent edges according to the three-dimensional data of the edges and the virtual reference surface so as to judge the state of the coated tool. The method solves the problem that a detection method which is high in interference resistance, efficiency and accuracy and used for judging the posture of the wire harness terminal coating tool to avoid collision or friction between the coating tool and injection molding equipment does not exist in the prior art.

Description

Technical Field

[0001] This invention relates to the field of wire harness terminal covering technology, and in particular to a method, system and storage medium for detecting the flatness of wire harness terminal covering tooling. Background Technology

[0002] After welding, wire harnesses and wire harness terminals typically require the weld joints to be covered to form an insulating coating. Current covering processes usually involve placing the welded wire harness terminals and wire harness into an injection molding machine mold, and then using the injection molding machine to inject molten plastic into the mold to cover the ends of the wire harness terminals.

[0003] However, in existing technologies, the wrapping of wire harness terminals is usually performed individually, which is inefficient. Therefore, multiple grooves are typically provided on the injection mold for injection molding, and multiple positioning devices are used to position each wire harness terminal separately. However, positioning multiple wire harness terminals individually is cumbersome and affects injection molding efficiency. Therefore, a wrapping fixture is considered for positioning multiple wire harness terminals. After the wire harness terminals are fixed on the wrapping fixture, the wrapping fixture is positioned in the positioning groove on the injection mold, so that multiple wire harness terminals are positioned as a whole on the injection mold. At this time, multiple other wrapping fixtures can be used to fix the wire harness terminals, and the wrapping fixture can be replaced after injection molding. This improves injection molding efficiency. However, in actual use, collisions or friction occasionally occur between the wrapping fixture and the injection mold. This is because the placement of the wrapping fixture in the positioning groove is done manually, which may result in the wrapping fixture not being placed correctly, or the overall posture of the wrapping fixture shifting slightly under the action of multiple wire harnesses, and these shifts are difficult for operators to detect quickly. Furthermore, due to the high temperature and vibration in the working environment of wire harness terminals, as well as the fast injection speed of wire harness terminals, a detection method with strong anti-interference, high efficiency and accuracy is needed to determine whether the posture of the covering tooling is appropriate, so as to avoid collision or friction between the covering tooling and the injection molding equipment. Summary of the Invention

[0004] Based on this, the purpose of the present invention is to provide a method, system and storage medium for detecting the flatness of wire harness terminal covering fixtures, aiming to solve the problem in the prior art of lacking a detection method with strong anti-interference, high efficiency and accuracy to determine whether the posture of the wire harness terminal covering fixture is appropriate in order to avoid collision or friction between the covering fixture and the injection molding equipment.

[0005] A method for detecting the flatness of a wire harness terminal covering fixture according to an embodiment of the present invention, the method comprising:

[0006] Image data and laser stripe data are determined by multiple preset image acquisition devices and preset laser projection devices at different locations, and two-dimensional coordinate data and deformation data of each edge on the covering fixture are determined based on the image data and the laser stripe data. The laser projection device is used to project stripes of preset color onto the edges of the covering fixture.

[0007] The three-dimensional data of the edge is determined based on the two-dimensional coordinate data and the calibration parameters of the preset image acquisition device;

[0008] The coordinates of the positioning pin are determined based on the image corresponding to the preset positioning pin in the image data, and a virtual surface is constructed based on the positioning pin coordinates. The virtual surface is then corrected based on the deformation data to determine a virtual reference surface.

[0009] The overall tilt angle and the height difference between adjacent edges of the tooling are determined based on the three-dimensional data of the edges and the virtual reference surface, so as to determine the state of the covering tooling.

[0010] In addition, the method for detecting the flatness of wire harness terminal covering tooling according to the above embodiments of the present invention may also have the following additional technical features:

[0011] Furthermore, the step of determining the two-dimensional coordinate data and stripe deformation data of each edge on the covering tooling based on the image data and the laser stripe data includes:

[0012] The image data is converted into a grayscale image and filtered for noise reduction to determine an enhanced grayscale image.

[0013] Based on the enhanced grayscale image, the effective edge segments, i.e., the two-dimensional coordinate data, are determined by a preset edge detection algorithm and a straight line segment detection algorithm.

[0014] The deformation data is determined based on the laser stripe data collected without tooling, the real-time laser stripe data, and the two-dimensional coordinate data.

[0015] Furthermore, the step of constructing a virtual surface based on the coordinates of the positioning pin includes:

[0016] A virtual surface is constructed using a preset formula based on the coordinates of the positioning pins;

[0017] The preset formula is:

[0018] z i =ax i +by i +c

[0019]

[0020] Where, xi y i and z i Here are the coordinates of the locating pin center, N is the number of locating pins, and a, b, and c are planar parameters.

[0021] Furthermore, the deformation data includes a deformation vector, and the step of correcting the virtual surface based on the deformation data to determine the virtual reference surface includes:

[0022] Determine each deformation point on the virtual surface and the deformation parameter corresponding to the deformation point based on the deformation vector;

[0023] The virtual reference surface is determined by adjusting the virtual surface according to the deformation parameters.

[0024] Furthermore, the steps of determining the overall tilt angle of the tooling and the height difference between adjacent edges based on the three-dimensional edge data and the virtual reference surface include:

[0025] The mounting surface of the tooling is determined based on the three-dimensional data of each edge, and the angle between the mounting surface and the virtual reference surface is determined, which is the overall tilt angle of the tooling.

[0026] Determine the coordinates of the midpoint of each edge, and calculate the difference in the Z coordinates of the midpoints of each adjacent edge to determine the height difference between the adjacent edges.

[0027] Furthermore, the step of determining the state of the covering tooling based on the overall tilt angle of the tooling and the height difference between adjacent edges includes:

[0028] Based on the midpoint coordinates of each edge, the midpoint coordinates are projected onto the tooling plane to determine the smallest circle that can cover all the projection points corresponding to the midpoint coordinates.

[0029] The radius change rate of the minimum circle and the calibration circle is determined, and then the roundness change rate is determined, so as to judge the state of the covering tooling based on the roundness change rate. The calibration circle is the minimum circle determined by the midpoint coordinates of each edge when the covering tooling is not in use.

[0030] Further, after determining the state of the covering tooling based on the overall tilt angle of the tooling and the height difference between adjacent edges:

[0031] Time alignment and normalization are performed on tooling posture data, process parameter data, and environmental data.

[0032] Construct the correlation features between the tooling posture data, the process parameter data, and the environmental data, and determine the changing trend of the correlation features;

[0033] The tooling status is predicted based on the changing trend to determine the failure rate, and the failure rate is used to determine whether the package tooling needs to be repaired or replaced.

[0034] Another object of the present invention is a flatness detection system for wire harness terminal covering tooling, the system comprising:

[0035] The data acquisition module is used to determine image data and laser stripe data through multiple preset image acquisition devices and preset laser projection devices at different locations, and to determine the two-dimensional coordinate data and deformation data of each edge on the covering fixture based on the image data and the laser stripe data. The laser projection device is used to project stripes of preset color onto the edges of the covering fixture.

[0036] A three-dimensional data determination module is used to determine the three-dimensional data of the edge based on the two-dimensional coordinate data and the calibration parameters of the preset image acquisition device;

[0037] The reference plane determination module is used to determine the coordinates of the positioning pins based on the image corresponding to the preset positioning pins in the image data, to construct a virtual plane based on the positioning pin coordinates, and to correct the virtual plane based on the deformation data to determine the virtual reference plane;

[0038] The judgment module is used to determine the overall tilt angle of the tooling and the height difference between adjacent edges based on the three-dimensional data of the edges and the virtual reference surface, so as to judge the state of the covering tooling based on the overall tilt angle of the tooling and the height difference between adjacent edges.

[0039] This invention uses multiple cameras to capture images of the packaging fixture from different perspectives to obtain more accurate images of the packaging fixture's status. In specific implementation, a preset laser projection is used to project a preset color laser onto the edges of the packaging fixture, making the edges of the packaging fixture easier to distinguish from other areas in the image, thereby improving the accuracy of the packaging fixture image recognition. The two-dimensional coordinate data of the edge of the covering tooling and the deformation data determined by the laser stripe data are then determined through various images. The three-dimensional data of the edge is determined by integrating the two-dimensional coordinate data from different cameras, allowing for accurate judgment of the current state of the edge. A virtual surface is then constructed using the positioning pins on the injection molding machine, and the deformation data is used to correct the virtual surface and determine a virtual reference surface. This dynamic virtual reference surface avoids tooling deformation and the influence of injection molding machine vibration. The overall tilt angle and vector edge height difference of the tooling are determined by the virtual reference surface and the three-dimensional data of the edge, accurately judging the state of the covering tooling, determining the flatness of the covering tooling within the positioning groove, and the flatness of the outer surface of the covering tooling itself. This ensures that the covering tooling is placed correctly and does not undergo excessive deformation during long-term use, thus preventing expansion or friction between the covering tooling and the injection molding machine. Therefore, this invention solves the problem in the prior art of lacking a highly efficient and accurate detection method to determine whether the posture of the wire harness terminal covering tooling is appropriate to avoid collision or friction between the covering tooling and the injection molding machine. Attached Figure Description

[0040] Figure 1 This is a flowchart of the flatness detection method for wire harness terminal covering tooling in the first embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the results of the wire harness terminal covering tooling flatness detection system in the second embodiment of the present invention;

[0042] Figure 3 This is a schematic diagram of the structure of the electronic device in the third embodiment of the present invention;

[0043] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0044] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0045] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0047] Example 1

[0048] Please see Figure 1 The figure shows a method for detecting the flatness of wire harness terminal covering fixture in the first embodiment of the present invention. The method specifically includes steps S01-S04.

[0049] S01, image data and laser stripe data are determined by multiple preset image acquisition devices and preset laser projection devices at different locations, and two-dimensional coordinate data and deformation data of each edge on the covering fixture are determined based on the image data and the laser stripe data. The laser projection device is used to project stripes of preset color onto the edges of the covering fixture.

[0050] Specifically, the image data is converted into a grayscale image and filtered for noise reduction to determine an enhanced grayscale image. Based on the enhanced grayscale image, effective edge segments, i.e., the two-dimensional coordinate data, are determined using a preset edge detection algorithm and a line segment detection algorithm. The deformation data is determined based on the laser stripe data collected without the tooling, the real-time laser stripe data, and the two-dimensional coordinate data. By converting and preprocessing the image, the data processing volume during image extraction is reduced. Furthermore, in specific implementations, blue laser light is transmitted through a laser projection device, making the image at the edges significantly different from other areas in the grayscale image, thereby greatly reducing the difficulty of image extraction. In addition, in specific implementations, three industrial cameras spaced 120° apart can be set in the injection molding machine area, facing the tooling at 30°, 45°, and 60° angles respectively. This layout ensures that at least two cameras can simultaneously capture three continuous edges covering the tooling, eliminating single-view blind spots.

[0051] Additionally, it should be noted that the positioning groove is usually a rectangular groove. To facilitate the placement of the wrapping fixture within the positioning groove, the outer contour of the wrapping fixture is usually a regular polygon, such as a regular pentagon, regular hexagon, or regular octagon. The positioning is achieved by limiting and positioning the fixture through the edges of the regular polygon on both sides and the positioning groove, and by positioning the fixture by fitting one side of the regular polygon against the bottom surface of the positioning groove. This completes the positioning of the wrapping fixture, and there is only line contact on both sides, thus avoiding the large friction caused by surface contact that would affect the rapid placement of the wrapping fixture.

[0052] S02, determine the three-dimensional data of the edge based on the two-dimensional coordinate data and the calibration parameters of the preset image acquisition device.

[0053] Specifically, by using two-dimensional coordinate data and corresponding camera calibration parameters, 2D points are converted into 3D points, and the same edge is viewed from different perspectives to determine the corresponding three-dimensional edge data.

[0054] S03, determine the coordinates of the positioning pin based on the image corresponding to the preset positioning pin in the image data, construct a virtual surface based on the positioning pin coordinates, and correct the virtual surface based on the deformation data to determine a virtual reference surface.

[0055] Specifically, a virtual surface is constructed using a preset formula based on the coordinates of the positioning pins;

[0056] The preset formula is:

[0057] z i =ax i +by i +c

[0058]

[0059] Where, x i y i and z i Let N be the center coordinates of the locating pins, N be the number of locating pins, and a, b, and c be plane parameters. A virtual surface is constructed by fitting the center coordinates of the locating pins using the least squares method. This virtual surface helps to avoid measurement errors caused by the deformation and vibration of the injection molding machine itself, thereby improving measurement accuracy.

[0060] Furthermore, the deformation data includes deformation vectors. The step of correcting the virtual surface based on the deformation data to determine the virtual reference surface includes: determining each deformation point on the virtual surface and the deformation parameters corresponding to the deformation points based on the deformation vectors; and adjusting the virtual surface based on the deformation parameters to determine the virtual reference surface. Since the deformation of the laser stripes is a projection of the changes in the contour of the working surface, and the virtual surface is strongly correlated with the overall state of the tooling, adjusting the virtual surface through deformation data can accurately reflect the overall deformation state of the tooling. Therefore, the corrected virtual reference surface includes the influence of the overall deformation of the tooling, thereby accurately determining the current posture of the tooling.

[0061] S04, determine the overall tilt angle of the tooling and the height difference between adjacent edges based on the three-dimensional data of the edges and the virtual reference surface, so as to determine the state of the covering tooling based on the overall tilt angle of the tooling and the height difference between adjacent edges.

[0062] Specifically, the mounting surface of the tooling is determined based on the three-dimensional data of each edge, and the angle between the mounting surface and the virtual reference plane, i.e., the overall tilt angle of the tooling, is determined. The midpoint coordinates of each edge are determined, and the difference in the Z-coordinate of the midpoint coordinates of each adjacent edge is calculated to determine the height difference between adjacent edges. Further, the midpoint coordinates of each edge are projected onto the tooling plane to determine the smallest circle that can cover all the projection points corresponding to the midpoint coordinates. The radius change rate of the smallest circle and the calibration circle is determined to determine the roundness change rate, so as to judge the state of the covering tooling based on the roundness change rate. The calibration circle is the smallest circle determined by the midpoint coordinates of each edge when the covering tooling is not in use. Through multi-parameter comprehensive evaluation, the overall posture, local deformation status, and overall structural integrity of the tooling are judged, thereby comprehensively judging the true condition of the tooling. This allows for accurate determination of whether the current tooling will collide or rub against the injection molding equipment, and whether the current tooling needs maintenance or replacement.

[0063] Furthermore, following step S04, the process includes time alignment and normalization of the tooling posture data, process parameter data, and environmental data; constructing correlation features between the tooling posture data, process parameter data, and environmental data, and determining the changing trends of these correlation features; predicting the tooling status based on these trends to determine the failure rate; and determining whether to repair or replace the wrapping tooling based on the failure rate. In specific implementation, parameters are collected and analyzed holistically to determine the correlation between parameters, which is then used to train the model and establish a prediction model. This prediction model is used to summarize and analyze real-time and historical data parameters to make reasonable predictions about the wrapping tooling status. This allows for the identification of repair or replacement of the wrapping tooling to avoid damage caused by unforeseen circumstances and to minimize the impact on the wrapping efficiency of the wire harness terminals.

[0064] In summary, the flatness detection method for wire harness terminal covering fixture in the above embodiments of the present invention captures images of the covering fixture from different angles using multiple cameras to obtain more accurate images of the covering fixture's state. In specific implementation, a preset color laser projection is used to project a preset laser onto the edges of the covering fixture, making the edges of the covering fixture easier to distinguish from other areas in the image, thereby improving the accuracy of the covering fixture image recognition. The two-dimensional coordinate data of the edge of the covering tooling and the deformation data determined by the laser stripe data are then determined through various images. The three-dimensional data of the edge is determined by integrating the two-dimensional coordinate data from different cameras, allowing for accurate judgment of the current state of the edge. A virtual surface is then constructed using the positioning pins on the injection molding machine, and the deformation data is used to correct the virtual surface and determine a virtual reference surface. This dynamic virtual reference surface avoids tooling deformation and the influence of injection molding machine vibration. The overall tilt angle and vector edge height difference of the tooling are determined by the virtual reference surface and the three-dimensional data of the edge, accurately judging the state of the covering tooling, determining the flatness of the covering tooling within the positioning groove, and the flatness of the outer surface of the covering tooling itself. This ensures that the covering tooling is placed correctly and does not undergo excessive deformation during long-term use, thus preventing expansion or friction between the covering tooling and the injection molding machine. Therefore, this invention solves the problem in the prior art of lacking a highly efficient and accurate detection method to determine whether the posture of the wire harness terminal covering tooling is appropriate to avoid collision or friction between the covering tooling and the injection molding machine.

[0065] Example 2

[0066] Please see Figure 2The diagram shows a structural block diagram of the wire harness terminal covering fixture flatness detection system proposed in the second embodiment of the present invention. The wire harness terminal covering fixture flatness detection system 200 includes: a data acquisition module 21, a three-dimensional data determination module 22, a reference plane determination module 23, and a judgment module 24, wherein:

[0067] The data acquisition module 21 is used to determine image data and laser stripe data through multiple preset image acquisition devices and preset laser projection devices at different locations, and to determine the two-dimensional coordinate data and deformation data of each edge on the covering fixture based on the image data and the laser stripe data. The laser projection device is used to project stripes of preset color onto the edges of the covering fixture.

[0068] The three-dimensional data determination module 22 is used to determine the three-dimensional data of the edge based on the two-dimensional coordinate data and the calibration parameters of the preset image acquisition device.

[0069] The reference plane determination module 23 is used to determine the coordinates of the positioning pins based on the image corresponding to the preset positioning pins in the image data, so as to construct a virtual plane based on the positioning pin coordinates and correct the virtual plane based on the deformation data to determine the virtual reference plane;

[0070] The judgment module 24 is used to determine the overall tilt angle of the tooling and the height difference between adjacent edges based on the three-dimensional data of the edges and the virtual reference surface, so as to determine the state of the covering tooling based on the overall tilt angle of the tooling and the height difference between adjacent edges.

[0071] The functions or operation steps implemented by the above modules are largely the same as those in the above method embodiments, and will not be repeated here.

[0072] Example 3

[0073] In another aspect, the present invention also proposes an electronic device, please refer to [link to relevant documentation]. Figure 3 The diagram shows an electronic device according to the third embodiment of the present invention, including a memory 20, a processor 10, and a computer program 30 stored in the memory and executable on the processor. When the processor 10 executes the computer program 30, it implements the flatness detection method of the wire harness terminal covering tooling as described above.

[0074] In some embodiments, the processor 10 may be a central processing unit (CPU), controller, microcontroller, microprocessor or other data processing chip, used to run program code stored in memory 20 or process data, such as executing access restriction programs.

[0075] The memory 20 includes at least one type of readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 20 can be an internal storage unit of an electronic device, such as the hard disk of the electronic device. In other embodiments, the memory 20 can also be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. Furthermore, the memory 20 can include both internal and external storage units of the electronic device. The memory 20 can be used not only to store application software and various types of data of the electronic device, but also to temporarily store data that has been output or will be output.

[0076] It should be pointed out that, Figure 3 The structure shown does not constitute a limitation on the electronic device. In other embodiments, the electronic device may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0077] This invention also proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for detecting the flatness of wire harness terminal covering fixtures.

[0078] Those skilled in the art will understand that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequential list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can mean any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0079] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0080] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0081] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0082] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A method for detecting the flatness of a wire harness terminal covering fixture, characterized in that, The method includes: Image data and laser stripe data are determined by multiple preset image acquisition devices and preset laser projection devices at different locations, and two-dimensional coordinate data and deformation data of each edge on the covering fixture are determined based on the image data and the laser stripe data. The laser projection device is used to project stripes of preset color onto the edges of the covering fixture. The three-dimensional data of the edge is determined based on the two-dimensional coordinate data and the calibration parameters of the preset image acquisition device; The coordinates of the positioning pin are determined based on the image corresponding to the preset positioning pin in the image data, and a virtual surface is constructed based on the positioning pin coordinates. The virtual surface is then corrected based on the deformation data to determine a virtual reference surface. The overall tilt angle and the height difference between adjacent edges of the tooling are determined based on the three-dimensional data of the edges and the virtual reference surface, so as to determine the state of the covering tooling.

2. The method for detecting the flatness of the wire harness terminal covering fixture according to claim 1, characterized in that, The steps for determining the two-dimensional coordinate data and stripe deformation data of each edge on the covering fixture based on the image data and the laser stripe data include: The image data is converted into a grayscale image and filtered for noise reduction to determine an enhanced grayscale image. Based on the enhanced grayscale image, the effective edge segments, i.e., the two-dimensional coordinate data, are determined by a preset edge detection algorithm and a straight line segment detection algorithm. The deformation data is determined based on the laser stripe data collected without tooling, the real-time laser stripe data, and the two-dimensional coordinate data.

3. The method for detecting the flatness of the wire harness terminal covering fixture according to claim 1, characterized in that, The steps for constructing a virtual surface based on the coordinates of the positioning pin include: A virtual surface is constructed using a preset formula based on the coordinates of the positioning pins; The preset formula is: z i =ax i +by i +c Where, x i y i and z i Here are the coordinates of the locating pin center, N is the number of locating pins, and a, b, and c are planar parameters.

4. The method for detecting the flatness of the wire harness terminal covering fixture according to claim 3, characterized in that, The deformation data includes a deformation vector, and the step of correcting the virtual surface based on the deformation data to determine the virtual reference surface includes: Determine each deformation point on the virtual surface and the deformation parameter corresponding to the deformation point based on the deformation vector; The virtual reference surface is determined by adjusting the virtual surface based on the deformation parameters.

5. The method for detecting the flatness of the wire harness terminal covering fixture according to claim 3, characterized in that, The steps for determining the overall tilt angle of the tooling and the height difference between adjacent edges based on the three-dimensional edge data and the virtual reference surface include: The mounting surface of the tooling is determined based on the three-dimensional data of each edge, and the angle between the mounting surface and the virtual reference surface is determined, which is the overall tilt angle of the tooling. Determine the coordinates of the midpoint of each edge, and calculate the difference in the Z coordinates of the midpoints of each adjacent edge to determine the height difference between the adjacent edges.

6. The method for detecting the flatness of the wire harness terminal covering fixture according to claim 5, characterized in that, After determining the state of the covering fixture based on the overall tilt angle of the fixture and the height difference between adjacent edges, the following steps are included: Based on the midpoint coordinates of each edge, the midpoint coordinates are projected onto the tooling plane to determine the smallest circle that can cover all the projection points corresponding to the midpoint coordinates. The radius change rate of the minimum circle and the calibration circle is determined, and then the roundness change rate is determined, so as to judge the state of the covering tooling based on the roundness change rate. The calibration circle is the minimum circle determined by the midpoint coordinates of each edge when the covering tooling is not in use.

7. The method for detecting the flatness of the wire harness terminal covering fixture according to claim 6, characterized in that, After determining the state of the covering fixture based on the overall tilt angle of the fixture and the height difference between adjacent edges: Time alignment and normalization are performed on tooling posture data, process parameter data, and environmental data. Construct the correlation features between the tooling posture data, the process parameter data, and the environmental data, and determine the changing trend of the correlation features; The tooling status is predicted based on the changing trend to determine the failure rate, and the failure rate is used to determine whether the package tooling needs to be repaired or replaced.

8. A flatness detection system for wire harness terminal covering fixtures, characterized in that, For implementing the flatness detection method of wire harness terminal covering tooling as described in any one of claims 1 to 7, the system comprises: The data acquisition module is used to determine image data and laser stripe data through multiple preset image acquisition devices and preset laser projection devices at different locations, and to determine the two-dimensional coordinate data and deformation data of each edge on the covering fixture based on the image data and the laser stripe data. The laser projection device is used to project stripes of preset color onto the edges of the covering fixture. A three-dimensional data determination module is used to determine the three-dimensional data of the edge based on the two-dimensional coordinate data and the calibration parameters of the preset image acquisition device; The reference plane determination module is used to determine the coordinates of the positioning pins based on the image corresponding to the preset positioning pins in the image data, to construct a virtual plane based on the positioning pin coordinates, and to correct the virtual plane based on the deformation data to determine the virtual reference plane; The judgment module is used to determine the overall tilt angle of the tooling and the height difference between adjacent edges based on the three-dimensional data of the edges and the virtual reference surface, so as to judge the state of the covering tooling based on the overall tilt angle of the tooling and the height difference between adjacent edges.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the flatness detection method for wire harness terminal covering tooling as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the flatness detection method for wire harness terminal covering tooling as described in any one of claims 1-7.

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