Plugging control method, device and equipment and readable storage medium

Abstract

The invention discloses a plugging control method, device and equipment and a readable storage medium. The method is applied to a controller of a plugging tool. The plugging tool further comprises a plug clamp, a controllable rotating motor, a terminal clamp, a sliding rod external member and a camera. The controllable rotating motor is used for driving the target plug to rotate; the sliding rod external member is used for driving the target plug to slide; the camera aligns with the terminal clamp; the method comprises the steps of obtaining a test image shot by a camera; judging whether the target plug is aligned with a target jack of a target mobile terminal on the terminal clamp based on the test image by adopting a visual technology; and if yes, generating a sliding instruction to insert the target plug into the target jack. Visibly, according to the application, through visual identification, intelligent judgment and closed-loop control of automatic plugging and unplugging, the alignment judgment of the jacks is carried out before the plugging and unplugging operation, and the problem of matching deviation of the plug and the jacks of the mobile terminal after the plugging and unplugging operation is carried out is avoided, so that the precision and efficiency of the plugging and unplugging operation are effectively balanced.

Description

Technical Field

[0001] This application relates to the field of automation technology, and more specifically, to a plug-in / plug-out control method, apparatus, device, and readable storage medium. Background Technology

[0002] In the field of electromagnetic radiation assessment for mobile terminals, multiple connections to the mobile terminal are required, each achieved by inserting a plug into the terminal's port. Therefore, the assessment process involves multiple plugging and unplugging operations.

[0003] To address the inefficiency of manual interface plugging and unplugging, dedicated plugging and unplugging devices have emerged in the existing technology, aiming to improve evaluation efficiency through automation. However, in actual use, these devices often experience mismatches between the plug and the mobile terminal's port, failing to achieve the expected efficiency improvement and instead wasting time due to reoperation, thus impacting the overall evaluation progress. Summary of the Invention

[0004] In view of this, this application provides a plug-in / plug-out control method, apparatus, device, and readable storage medium to avoid the problem of mismatch between the plug and the mobile terminal socket during the plug-in / plug-out process, so as to improve the electromagnetic radiation assessment process.

[0005] To achieve the above objectives, the following solution is proposed:

[0006] A plugging / unplugging control method is applied to the controller of a plugging / unplugging tool, the plugging / unplugging tool including a plug clamp, a controllable rotary motor, a terminal clamp, a controller, a sliding rod assembly, and a camera;

[0007] The controllable rotary motor is used to drive the target plug held by the plug clamp to rotate.

[0008] The sliding rod assembly is used to drive the target plug to slide;

[0009] The camera is positioned next to the target plug and is aimed at the terminal clamp;

[0010] The insertion / removal control method includes:

[0011] Acquire test images captured by the camera;

[0012] Using visual technology, the system determines whether the target plug is aligned with the target port of the target mobile terminal on the terminal fixture based on the test image.

[0013] If so, a sliding command is generated to the slider assembly to drive the target plug to slide horizontally and insert the target plug into the target socket.

[0014] Optionally, the step of using visual technology to determine whether the target plug is aligned with the target port of the target mobile terminal on the terminal fixture based on the test image includes:

[0015] Obtain the trained visual detection model;

[0016] Based on the test image, detect whether the posture of the target socket matches the posture of the target plug;

[0017] Based on the visual detection model and the test image, it is determined whether the spatial information of the target socket is aligned with the spatial information of the target plug.

[0018] When the posture is matched and the spatial information is aligned, it is determined that the target plug is aligned with the target socket.

[0019] Optionally, the step of detecting whether the pose of the target socket matches the pose of the target plug based on the test image includes:

[0020] An edge detection algorithm is used to identify the long side of the socket outline and the reference side of the terminal fixture from the test image;

[0021] Based on the long side of the socket outline and the reference side of the terminal clamp, it is detected whether the posture of the target socket matches the posture of the target plug.

[0022] Optionally, detecting whether the orientation of the target socket matches the orientation of the target plug based on the long side of the socket profile and the reference side of the terminal clamp includes:

[0023] If the long side of the socket outline is parallel to the reference side of the terminal clamp, then the target plug is determined to be in a matching posture with the target socket.

[0024] If the long side of the socket outline is not parallel to the reference side of the terminal clamp, then the orientation of the target socket is determined to be mismatched with the orientation of the target plug.

[0025] Optionally, the step of determining whether the spatial information of the target socket and the spatial information of the target plug are aligned based on the test image, using the visual detection model, includes:

[0026] Based on the visual detection model, the test image is analyzed to determine whether the spatial position of the target socket is aligned with the spatial position of the target plug, and whether the internal structure of the target socket is aligned with the structure of the target plug.

[0027] Optionally, obtaining the trained visual detection model includes:

[0028] Construct an image detection model;

[0029] When each training terminal is placed on the terminal fixture, the camera is used to capture the training image corresponding to each training terminal, and the corresponding alignment mark is marked on each training image. Each alignment mark can be used to characterize whether the spatial training position and structural shape of the corresponding training terminal socket are aligned with the target plug.

[0030] The image detection model is trained sequentially using each training image, and the parameters of the image detection model are adjusted until the image detection model meets the preset stopping condition. The final image detection model is the visual detection model.

[0031] Optionally, generating the sliding command to the slider assembly includes:

[0032] Based on the test image, determine the distance between the target plug and the target socket;

[0033] Based on the distance, a sliding command containing the sliding speed and sliding duration is generated and sent to the sliding rod assembly.

[0034] A plugging / unplugging control device is applied to the controller of a plugging / unplugging tool, the plugging / unplugging tool including a plug clamp, a controllable rotary motor, a terminal clamp, a controller, a sliding rod assembly, and a camera;

[0035] The controllable rotary motor is used to drive the target plug held by the plug clamp to rotate.

[0036] The sliding rod assembly is used to drive the target plug to slide;

[0037] The camera is positioned next to the target plug and is aimed at the terminal clamp;

[0038] The insertion / removal control device includes:

[0039] The acquisition module is used to acquire test images captured by the camera;

[0040] The judgment module is used to use vision technology to determine, based on the test image, whether the target plug is aligned with the target port of the target mobile terminal on the terminal fixture.

[0041] The generation module is used to generate a sliding command to the sliding rod assembly if the target plug is aligned with the target socket, so as to drive the target plug to slide horizontally using the sliding rod assembly and insert the target plug into the target socket.

[0042] A plug-in / plug-out control device, including a memory and a processor;

[0043] The memory is used to store programs;

[0044] The processor is used to execute the program to implement the various steps of the above-described plug-in / plug-out control method.

[0045] A readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the various steps of the above-described plug-in / plug-out control method.

[0046] As can be seen from the above technical solutions, the insertion / removal control method provided in this application can be applied to the controller of an insertion / removal tool. This tool may include a plug clamp, a controllable rotary motor, a terminal clamp, a controller, a sliding rod assembly, and a camera. The controllable rotary motor drives the target plug held by the plug clamp to rotate. The sliding rod assembly drives the target plug to slide. The camera is positioned next to the target plug and is aimed at the terminal clamp. Therefore, this application can control the controllable rotary motor to drive the target plug to rotate, thereby matching the target plug with the target socket and reducing socket matching deviation. The insertion / removal control method may include acquiring test images captured by the camera; using visual technology, based on the test images, to determine whether the target plug is aligned with the target socket of the target mobile terminal on the terminal clamp. This device can capture images using a camera and determine the alignment status in real time using visual technology. It can accurately identify the relative positional deviation between the plug and the socket, reducing problems such as misalignment and inability to insert due to inaccurate positioning. This solves the matching errors that are prone to occur in traditional plugging and unplugging devices that rely on mechanical positioning. Subsequently, if the plug and socket are aligned, this application generates a sliding command to the sliding rod assembly, which drives the target plug to slide horizontally and insert it into the target socket. Based on this, this application can automatically complete the alignment judgment and plugging / unplugging action through the controller, eliminating the need for manual judgment, reducing the randomness and fatigue of manual operation, and making the plugging / unplugging process more stable and controllable. The alignment judgment is quickly completed through visual recognition, combined with the precise drive of the sliding rod assembly, shortening the time consumed in a single plugging / unplugging operation. At the same time, by reducing retries due to errors, it avoids wasting time on troubleshooting and indirectly improves the efficiency of the overall testing process. As can be seen, this application can use visual recognition, intelligent judgment and automatic plugging and unplugging closed-loop control to perform socket and socket alignment judgment before the plugging and unplugging operation, effectively avoiding the problem of mismatch between plug and mobile terminal socket after the plugging and unplugging operation, thereby effectively balancing the accuracy and efficiency of the plugging and unplugging operation. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the structure of a plugging and unplugging tool disclosed in an embodiment of this application;

[0049] Figure 2 This is a flowchart of a plug-in / plug-out control method disclosed in an embodiment of this application;

[0050] Figure 3 This is a structural block diagram of a plug-in / plug-out control device disclosed in an embodiment of this application;

[0051] Figure 4 This is a hardware structure block diagram of a plug-in control device disclosed in an embodiment of this application. Detailed Implementation

[0052] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] Next, we will combine the appendix Figure 1 The insertion and removal tools of this application are described in detail. It should be noted that the orientation of the structures shown in the accompanying drawings is set for ease of understanding and does not limit the orientation of the embodiments of this disclosure in actual implementation. Furthermore, the shape and size of the structure as a whole or in part shown in the drawings are not limited to the actual shape and size.

[0054] See Figure 1 It can be seen that the plugging and unplugging tool of this application may include a plug clamp, a controllable rotary motor, a terminal clamp, a controller, a sliding rod kit, and a camera.

[0055] The camera can be a high-resolution industrial camera.

[0056] The plug clamp can hold a USB plug as the target plug.

[0057] The plug clamp can be mounted on a controllable rotary motor.

[0058] The controllable rotary motor can rotate from 0 to 360° under the control of the controller, thereby driving the target plug held by the plug clamp to rotate, so that the target plug can be aligned with the mobile terminal socket placed in the forward position on the terminal clamp, or with the mobile terminal socket placed in the reverse position on the terminal clamp.

[0059] The sliding rod assembly can be positioned at the bottom of the controllable rotary motor, allowing it to drive the motor to slide horizontally, which in turn causes the plug clamp mounted on the motor to slide horizontally. This, in turn, causes the target plug held by the plug clamp to slide horizontally.

[0060] To ensure the security of mobile terminals, the size of the terminal fixture can be larger than the average size of different types of mobile terminals.

[0061] To improve the usability of the plugging and unplugging tool, the height of the terminal clamp and plug clamp is adjustable.

[0062] The terminal clamp and plug clamp can be made of aluminum.

[0063] Next, combine Figure 2 The insertion and removal control method of this application is described in detail, including the following steps:

[0064] Step S1: Obtain the test image captured by the camera.

[0065] Specifically, after the target mobile terminal is placed in the terminal fixture, multiple images captured by the camera can be acquired;

[0066] Different images may correspond to different camera fields of view. Therefore, multiple images can be combined to integrate features and obtain a test image.

[0067] Each image contains an image of the target mobile terminal's port; therefore, the test image also contains an image of the target mobile terminal's port.

[0068] In some embodiments, the test image may also include an image of the target plug.

[0069] The target mobile terminal can be a mobile device such as a tablet, laptop, or mobile phone.

[0070] After the target plug is inserted into the target socket, the gap on one side is usually 0.1mm~0.3mm. This design utilizes the anti-interference capability at a short distance of 5cm and the robust design of the marking structure.

[0071] In some embodiments, a metal aluminum foil may be attached around the target port of the target mobile terminal to enhance the visibility of the target port's outline through high-brightness reflection, making it easier to locate the target port's position.

[0072] Furthermore, the aluminum foil is required to have a reflectivity of at least 80% specular reflection, matching the wavelength of the light source in the industrial camera.

[0073] Step S2: Using visual technology, determine whether the target plug is aligned with the target port of the target mobile terminal on the terminal fixture based on the test image.

[0074] Specifically, the target port can be the USB port on the target mobile terminal.

[0075] The test image can be denoised and edge enhanced by image preprocessing algorithms to eliminate ambient light interference and image noise, and key features such as the border and pin slot of the target mobile terminal can be located by feature extraction algorithms.

[0076] Based on key features, assess whether the target plug is aligned with the target port of the target mobile terminal on the terminal fixture.

[0077] When the camera position changes synchronously with the target plug, the two maintain a relatively fixed spatial relationship. This ensures that the imaging range of the target plug and the matching reference remain stable within the camera's field of view, without shifting due to positional movement. Based on this constant relative position characteristic, there is no need to additionally detect the real-time spatial information of the target plug. Only by capturing and analyzing the spatial coordinates, contour, and other information of the target connector within the camera's field of view using visual technology can it be compared with a preset target plug alignment reference range within the field of view, thus quickly determining whether the target connector is within the target plug alignment range that allows for precise docking. Therefore, even when the test image only contains the image of the target connector, alignment detection between the target connector and the target plug can be completed.

[0078] Step S3: If yes, then a sliding command is generated to the sliding rod assembly to drive the target plug to slide horizontally and insert the target plug into the target socket.

[0079] Specifically, after the target socket is aligned with the target socket, the controller can generate a sliding command to control the sliding rod assembly to drive the target plug to slide back, forth, left, and right, so as to insert the target plug into the target socket of the target mobile terminal by sliding control.

[0080] As can be seen from the above technical solutions, the insertion / removal control method provided in this application can be applied to the controller of an insertion / removal tool. This tool may include a plug clamp, a controllable rotary motor, a terminal clamp, a controller, a sliding rod assembly, and a camera. The controllable rotary motor drives the target plug held by the plug clamp to rotate. The sliding rod assembly drives the target plug to slide. The camera is positioned next to the target plug and is aimed at the terminal clamp. Therefore, this application can control the controllable rotary motor to drive the target plug to rotate, thereby matching the target plug with the target socket and reducing socket matching deviation. The insertion / removal control method may include acquiring test images captured by the camera; using visual technology, based on the test images, to determine whether the target plug is aligned with the target socket of the target mobile terminal on the terminal clamp. This device can capture images using a camera and determine the alignment status in real time using visual technology. It can accurately identify the relative positional deviation between the plug and the socket, reducing problems such as misalignment and inability to insert due to inaccurate positioning. This solves the matching errors that are prone to occur in traditional plugging and unplugging devices that rely on mechanical positioning. Subsequently, if the plug and socket are aligned, this application generates a sliding command to the sliding rod assembly, which drives the target plug to slide horizontally and insert it into the target socket. Based on this, this application can automatically complete the alignment judgment and plugging / unplugging action through the controller, eliminating the need for manual judgment, reducing the randomness and fatigue of manual operation, and making the plugging / unplugging process more stable and controllable. The alignment judgment is quickly completed through visual recognition, combined with the precise drive of the sliding rod assembly, shortening the time consumed in a single plugging / unplugging operation. At the same time, by reducing retries due to errors, it avoids wasting time on troubleshooting and indirectly improves the efficiency of the overall testing process. As can be seen, this application can use visual recognition, intelligent judgment and automatic plugging and unplugging closed-loop control to perform socket and socket alignment judgment before the plugging and unplugging operation, effectively avoiding the problem of mismatch between plug and mobile terminal socket after the plugging and unplugging operation, thereby effectively balancing the accuracy and efficiency of the plugging and unplugging operation.

[0081] In some embodiments of this application, the process of step S2, which uses visual technology to determine whether the target plug is aligned with the target port of the target mobile terminal on the terminal fixture based on the test image, is described in detail as follows:

[0082] S20. Obtain the trained visual detection model.

[0083] Specifically, a visual detection model can be pre-trained and invoked when needed.

[0084] S21. Detect whether the posture of the target socket matches the posture of the target plug based on the test image.

[0085] Specifically, based on visual technology, test images can be analyzed to determine whether the target mobile terminal is placed at an angle on the terminal fixture, so that the target plug cannot be rotated to solve the problem of misalignment between the target plug and the target socket.

[0086] S22. Based on the visual detection model and the test image, determine whether the spatial information of the target socket is aligned with the spatial information of the target plug.

[0087] Specifically, the test image can be input into the visual inspection model to determine whether the target socket is within the space range that can connect to the target plug and whether the shape of the target socket is aligned with that of the target plug.

[0088] S23. When the posture is matched and the spatial information is aligned, determine that the target plug is aligned with the target socket.

[0089] Specifically, given that the posture is matched and the spatial information is aligned, it can be determined that the target plug is aligned with the target socket.

[0090] In the event of attitude mismatch and / or spatial information alignment failure, it can be determined that the target plug and the target socket are not aligned.

[0091] As can be seen from the above technical solution, this embodiment provides an optional method for determining whether the target plug is aligned with the target port of the target mobile terminal on the terminal fixture based on the test image using visual technology. This method integrates the target port posture and spatial information for alignment detection, improving the reliability of alignment detection in this application, minimizing insertion failures due to insertion deviations, and enhancing the practicality of the insertion / removal tool.

[0092] In some embodiments of this application, the process of obtaining the trained visual detection model in step S20 is described in detail, and the steps are as follows:

[0093] S200, Construct an image detection model.

[0094] Specifically, a neural network model incorporating visual technologies can be constructed as an image detection model.

[0095] S201. When each training terminal is placed on the terminal fixture, the camera is used to capture the training image corresponding to each training terminal, and the corresponding alignment mark is marked on each training image. Each alignment mark can be used to characterize whether the spatial training position and structural shape of the corresponding training terminal socket are aligned with the target plug.

[0096] Specifically, when different training terminals are placed on terminal furniture, the camera can be used to capture images of each training terminal as corresponding training images.

[0097] Based on the insertion result of the corresponding port while keeping the position of each training terminal unchanged, the alignment mark of each training image can be determined and the corresponding alignment mark can be marked on each training image.

[0098] S202. The image detection model is trained sequentially using each training image, and the parameters of the image detection model are adjusted until the image detection model meets the preset stopping condition. The final image detection model is the visual detection model.

[0099] Specifically, each training image can be used to train the image detection model;

[0100] The gradient descent method is used to adjust the parameters of the image detection model until the image detection model converges, and the final image detection model is the visual detection model.

[0101] As can be seen from the above technical solution, this embodiment provides an optional method for obtaining a trained visual detection model. The above method can utilize images corresponding to various mobile terminals to train a visual detection model, thereby improving the robustness of the visual detection model.

[0102] In some embodiments of this application, the process of step S21, which involves detecting whether the posture of the target socket matches the posture of the target plug based on the test image, is described in detail below:

[0103] S210. Using an edge detection algorithm, identify the long side of the socket outline and the reference side of the terminal fixture from the test image.

[0104] Specifically, since the port of a mobile terminal is generally rectangular, the relative position of the port outline and the mobile terminal fixture can be detected, that is, whether the long side of the port outline is parallel to or forms an angle with the reference side of the terminal fixture, in order to determine whether the target mobile terminal is placed at an angle on the terminal fixture.

[0105] Edge detection algorithms such as the Canny algorithm can be used to extract the edges of the target socket and the edge of the terminal fixture from the test image;

[0106] The long side can be extracted from the edge of the target socket as the long side of the socket outline;

[0107] The horizontal edge can be extracted from the edge of the terminal fixture as the reference edge of the middle fixture.

[0108] S211. Based on the long side of the socket outline and the reference side of the terminal clamp, detect whether the posture of the target socket matches the posture of the target plug.

[0109] Specifically, the matching of the target socket posture and the target plug posture can be evaluated based on the relative position of the long side of the socket profile and the reference side of the terminal fixture.

[0110] As can be seen from the above technical solution, this embodiment provides an optional method for detecting whether the posture of the target socket matches the posture of the target plug based on the test image. The above method can convert posture matching into a comparison of linear relative positions, simplifying the comparison difficulty and accelerating the alignment process.

[0111] In some embodiments of this application, the process of detecting whether the orientation of the target socket matches the orientation of the target plug based on the long side of the socket contour and the reference side of the terminal fixture is described in detail. The steps are as follows:

[0112] S2110. If the long side of the socket outline is parallel to the reference side of the terminal clamp, then the target plug is determined to be in a matching posture with the target socket.

[0113] Specifically, it can be detected whether the long side of the socket outline is parallel to the reference side of the terminal fixture. If they are parallel, it can be determined that the target socket and the target socket are matched in posture.

[0114] S2111. If the long side of the socket outline is not parallel to the reference side of the terminal fixture, then it is determined that the posture of the target socket does not match the posture of the target plug.

[0115] Specifically, if the long side of the socket profile is not parallel to the reference side of the terminal fixture but forms an angle, it can be determined that the target socket and the target plug are mismatched.

[0116] As can be seen from the above technical solution, this embodiment provides an optional method for detecting whether the posture of the target socket matches the posture of the target plug based on the long side of the socket contour and the reference side of the terminal fixture. The above method can further improve the alignment detection reliability of this application.

[0117] Furthermore, in order to speed up the insertion and removal process, a warning light can be used to alert relevant personnel after a mismatch in posture is determined, so that they can adjust the posture of the target mobile terminal in a timely manner.

[0118] In some embodiments of this application, the process of determining whether the spatial information of the target socket and the spatial information of the target plug are aligned based on the test image, using the visual detection model, is described in detail below:

[0119] S220. Based on the visual detection model, analyze the test image to determine whether the spatial position of the target socket is aligned with the spatial position of the target plug, and determine whether the internal structure of the target socket is aligned with the structure of the target plug.

[0120] Specifically, the test image can be input into the visual inspection model, and the visual inspection model can be used to locate the target socket image and determine whether the target socket is within the spatial range of the target plug. If it is within the spatial range, the spatial position of the target socket is determined to be aligned with the spatial position of the target plug. If it is not within the spatial range, the spatial position of the target socket is determined to be misaligned with the spatial position of the target plug.

[0121] Generally speaking, during the plugging and unplugging process, the target plug can be set to be compatible with the target port corresponding to the target mobile terminal facing upwards.

[0122] By analyzing the internal structure represented by the test image, the orientation of the target mobile terminal can be determined, thereby assessing whether the internal structure of the target socket is aligned with the structure of the target plug.

[0123] Using a visual inspection model, based on the target socket image, the internal structure of the target socket, such as the shape of the metal contacts and the insulating plastic sheet, is determined. Based on this internal structure, it is determined whether the orientation of the target socket and the target plug is consistent. If they are consistent, the structure is aligned; if they are inconsistent, the structure is misaligned.

[0124] In case of inconsistency, a rotation command can be generated to a controllable rotary motor to drive the target plug to rotate 180°, so that the target plug is aligned with the target socket structure.

[0125] As can be seen from the above technical solution, this embodiment provides an optional method to determine whether the spatial information of the target socket and the spatial information of the target plug are aligned based on the test image by combining the visual detection model. The above method can integrate spatial position and structural information to complete the alignment detection of spatial information and improve the reliability of spatial detection results.

[0126] In some embodiments of this application, the process of generating the sliding command to the slider assembly in step S3 is described in detail, and the steps are as follows:

[0127] S30. Based on the test image, determine the distance between the target plug and the target socket.

[0128] Specifically, in order to improve insertion and removal efficiency, the target socket can be placed within the calibration range, and similarly, the target plug can also be placed within the marking range.

[0129] When both the target socket and the target plug are in a fixed position, the distance between the target plug and the target socket is the preset distance.

[0130] Therefore, based on the test image, it can be determined whether the target socket is placed within the calibration range. If so, the preset distance can be directly used as the distance between the target plug and the target socket.

[0131] When the target socket is not within the calibration range, the spatial coordinates of the target socket can be determined based on the test image;

[0132] The distance between the target plug and the target socket can be determined based on the spatial coordinates and the distance within the marked range.

[0133] S31. Based on the distance, generate a sliding command including sliding speed and sliding duration, and send it to the sliding rod assembly.

[0134] Specifically, since too low a sliding speed may result in insufficient impact force, which may cause the target plug to fail to be inserted into the target socket, the sliding speed can be set based on the results of a prior sliding test.

[0135] The duration of sliding can be determined based on the sliding speed and distance.

[0136] The swipe command can also include a dwell time to set the charging time for the target mobile device.

[0137] As can be seen from the above technical solution, this embodiment provides an optional method for generating sliding commands. Through the above method, the sliding speed and sliding duration can be adjusted to further ensure that the target plug is safely inserted into the target socket.

[0138] Furthermore, after the target plug is inserted into the target socket, the charging current information, voltage information, charging mode and charging data of the target mobile terminal can be acquired and recorded.

[0139] Furthermore, after the target plug is inserted into the target socket, a sliding command can be set to the sliding lever assembly to pull the target plug out of the target socket.

[0140] Next, we will combine Figure 3 The insertion and removal control device provided in this application is described in detail. The insertion and removal control device described below can be compared with the insertion and removal control method described above.

[0141] See Figure 3 It can be observed that the plug-in / plug-out control device may include:

[0142] Acquisition module 10 is used to acquire test images captured by the camera;

[0143] The judgment module 20 is used to use vision technology to determine whether the target plug is aligned with the target port of the target mobile terminal on the terminal fixture based on the test image;

[0144] The generation module 30 is used to generate a sliding command to the sliding rod assembly if the target plug is aligned with the target socket, so as to use the sliding rod assembly to drive the target plug to slide horizontally and insert the target plug into the target socket.

[0145] Furthermore, the judgment module 20 may include:

[0146] The visual detection model acquisition unit is used to acquire the trained visual detection model.

[0147] An attitude detection unit is used to detect whether the attitude of the target socket matches the attitude of the target plug based on the test image.

[0148] A spatial information detection unit is used to combine the visual detection model and, based on the test image, determine whether the spatial information of the target socket is aligned with the spatial information of the target plug.

[0149] When the posture is matched and the spatial information is aligned, it is determined that the target plug is aligned with the target socket.

[0150] Furthermore, the attitude detection unit may include:

[0151] The socket outline long side recognition subunit is used to identify the socket outline long side and the terminal fixture reference side from the test image using an edge detection algorithm;

[0152] The terminal fixture reference edge utilization subunit is used to detect whether the posture of the target socket matches the posture of the target plug based on the long side of the socket profile and the terminal fixture reference edge.

[0153] Furthermore, the terminal fixture reference edge utilization subunit may include:

[0154] The first terminal fixture reference edge utilization component is used to determine that the target plug and the target socket are matched in posture if the long side of the socket profile is parallel to the terminal fixture reference edge;

[0155] The second terminal fixture reference edge utilization component is used to determine that the orientation of the target socket does not match the orientation of the target plug if the long side of the socket profile is not parallel to the reference edge of the terminal fixture.

[0156] Furthermore, the spatial information detection unit may include:

[0157] The spatial position determination subunit is used to analyze the test image in conjunction with the visual detection model to determine whether the spatial position of the target socket is aligned with the spatial position of the target plug, and whether the internal structure of the target socket is aligned with the structure of the target plug.

[0158] Furthermore, the visual detection model acquisition unit may include:

[0159] The first visual detection model obtains sub-units, which are used to construct the image detection model;

[0160] The second visual detection model acquisition subunit is used to acquire training images corresponding to each training terminal using the camera when each training terminal is placed on the terminal fixture, and to mark the corresponding alignment mark on each training image. Each alignment mark can be used to characterize whether the spatial training position and structural shape of the corresponding training terminal socket are aligned with the target plug.

[0161] The third visual detection model acquisition subunit is used to train the image detection model sequentially using each training image and adjust the parameters of the image detection model until the image detection model meets the preset stopping condition. The final image detection model obtained is the visual detection model.

[0162] Furthermore, the generation module 30 may include:

[0163] A distance determination unit is used to determine the distance between the target plug and the target socket based on the test image;

[0164] The sliding command generation unit is used to generate a sliding command including sliding speed and sliding duration based on the distance, and send it to the sliding rod assembly.

[0165] The plug-in / plug-out control device provided in this application embodiment can also be applied to plug-in / plug-out control devices, such as PC terminals, cloud platforms, servers, etc. Optionally, Figure 4 The hardware structure block diagram of the device is shown, for reference Figure 4 The hardware structure of the device may include: at least one processor 1, at least one communication interface 2, at least one memory 3, and at least one communication bus 4;

[0166] In this embodiment of the application, the number of processor 1, communication interface 2, memory 3, and communication bus 4 is at least one, and processor 1, communication interface 2, and memory 3 communicate with each other through communication bus 4;

[0167] Processor 1 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0168] Memory 3 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk storage device;

[0169] The memory stores a program, which the processor can call. The program is used for:

[0170] Acquire test images captured by the camera;

[0171] Using visual technology, the system determines whether the target plug is aligned with the target port of the target mobile terminal on the terminal fixture based on the test image.

[0172] If so, a sliding command is generated to the slider assembly to drive the target plug to slide horizontally and insert the target plug into the target socket.

[0173] Optionally, the refined and extended functions of the program can be referred to the above description.

[0174] This application embodiment also provides a readable storage medium that can store a program suitable for execution by a processor, the program being used for:

[0175] Acquire test images captured by the camera;

[0176] Using visual technology, the system determines whether the target plug is aligned with the target port of the target mobile terminal on the terminal fixture based on the test image.

[0177] If so, a sliding command is generated to the slider assembly to drive the target plug to slide horizontally and insert the target plug into the target socket.

[0178] Optionally, the refined and extended functions of the program can be referred to the above description.

[0179] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0180] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0181] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. The various embodiments of this application can be combined with each other. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A plug-in control method characterized by, A controller applied to a plug-in tool, the plug-in tool comprising a plug clamp, a controllable rotating motor, a terminal clamp, a controller, a sliding rod set, a camera; The controllable rotating motor is used to drive the target plug clamped by the plug clamp to rotate; The sliding rod set is used to drive the target plug to slide; The camera is arranged beside the target plug, and the camera is aligned with the terminal clamp; The plug-in control method comprises: Obtaining a test image captured by the camera; Using a visual technology to determine whether the target plug and a target socket of a target mobile terminal on the terminal clamp are aligned based on the test image; If yes, a sliding instruction is generated to the sliding rod set to drive the target plug to slide horizontally by using the sliding rod set, and the target plug is inserted into the target socket.

2. The plug-in control method according to claim 1, wherein The using of the visual technology to determine whether the target plug and the target socket of the target mobile terminal on the terminal clamp are aligned based on the test image comprises: Obtaining a trained visual detection model; Detecting whether the posture of the target socket matches the posture of the target plug based on the test image; Combining the visual detection model, determining whether the spatial information of the target socket matches the spatial information of the target plug based on the test image; When the postures match and the spatial information matches, it is determined that the target plug and the target socket are aligned.

3. The plug-in control method according to claim 2, wherein The detecting whether the posture of the target socket matches the posture of the target plug based on the test image comprises: Using an edge detection algorithm to identify a socket profile long side and a terminal clamp reference edge from the test image; Based on the socket profile long side and the terminal clamp reference edge, detecting whether the posture of the target socket matches the posture of the target plug.

4. The plug-in control method according to claim 3, wherein The detecting whether the posture of the target socket matches the posture of the target plug based on the socket profile long side and the terminal clamp reference edge comprises: If the socket profile long side is parallel to the terminal clamp reference edge, it is determined that the posture of the target plug matches the posture of the target socket; If the socket profile long side is not parallel to the terminal clamp reference edge, it is determined that the posture of the target socket does not match the posture of the target plug.

5. The plug-in control method according to claim 2, wherein The combining the visual detection model, determining whether the spatial information of the target socket matches the spatial information of the target plug based on the test image comprises: Combining the visual detection model, analyzing the test image to determine whether the spatial position of the target socket matches the spatial position of the target plug, and determining whether the internal structure of the target socket matches the structure of the target plug.

6. The plug-in control method according to claim 2, wherein The obtaining of the trained visual detection model comprises: Constructing an image detection model; When each training terminal is placed on the terminal clamp, a training image corresponding to each training terminal is collected by using the camera, and a corresponding alignment mark is marked on each training image, wherein each alignment mark can be used to represent whether the spatial training position and the structure shape of the corresponding training terminal socket match the target plug. The image detection model is trained by using each training image in sequence, and parameters of the image detection model are adjusted until the image detection model meets a preset stopping condition, and finally an image detection model is obtained as the visual detection model.

7. The plug-in control method according to claim 1, wherein The generated sliding instruction is sent to the sliding rod kit, including: Based on the test image, the distance between the target plug and the target socket is determined; Based on the distance, a sliding instruction containing sliding speed and sliding time is generated and sent to the sliding rod kit.

8. A plug-in control device, characterized by The controller is applied to a plug-in tool, and the plug-in tool includes a plug clamp, a controllable rotating motor, a terminal clamp, a controller, a sliding rod kit, and a camera. The controllable rotating motor is used to drive the target plug held by the plug clamp to rotate. The sliding rod kit is used to drive the target plug to slide. The camera is arranged beside the target plug, and the camera is aligned with the terminal clamp. The plug-in control device includes: An acquisition module is configured to acquire a test image captured by the camera. A judgment module is configured to determine, based on the test image, whether the target plug is aligned with a target socket of a target mobile terminal on the terminal clamp by using a visual technology. A generation module is configured to generate a sliding instruction to the sliding rod kit to drive the target plug to slide horizontally by using the sliding rod kit and insert the target plug into the target socket if the target plug is aligned with the target socket.

9. A plug control device, characterized by It includes a memory and a processor. The memory is configured to store a program. The processor is configured to execute the program to implement each step of the plug-in control method according to any one of claims 1-7.

10. A readable storage medium, having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement each step of the plug-in control method according to any one of claims 1-7.

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