A detection method and related apparatus

Abstract

A detection method and related apparatus are disclosed, applied in the field of mating technology. The detection method includes: a detection device acquiring first data of the entire mating process through a first device, and obtaining a detection result of the entire mating process based on the first data. The entire mating process includes at least one of the following: a pre-mating inspection process, a mating operation process, or a post-mating confirmation process. Through this solution, the first device can automatically acquire the first data of the entire mating process, and the detection device can automatically detect the entire mating process based on the first data. This eliminates the need for manual inspection, and the automated data acquisition and detection methods improve the accuracy of mating quality detection, as well as increase detection efficiency.

Description

Technical Field

[0001] This application relates to the field of insertion technology, and in particular to a detection method and related apparatus. Background Technology

[0002] A plug-in is a method used to connect or communicate components. The quality of the plug-in (such as whether the plug is in place or whether it is secure) will affect the connection or communication between components, so it is necessary to test the plug-in quality.

[0003] Currently, connection quality inspection typically relies on manual visual inspection and tactile verification. However, manual inspection methods suffer from low accuracy. Therefore, improving the accuracy of connection quality inspection is a pressing technical problem that needs to be solved. Summary of the Invention

[0004] This application provides a testing method and related apparatus that can improve the accuracy of insertion quality testing.

[0005] Firstly, this application provides a detection method that can be executed by a device with computing power. For ease of description, this application uses the detection device as the executing entity as an example. In actual implementation, the executing entity of this detection method may be other names.

[0006] The detection method includes: the detection device acquiring first data of the entire insertion process through a first device, and obtaining the detection result of the entire insertion process based on the first data. The entire insertion process includes at least one of the following: a verification process before the insertion operation, the insertion operation process, or a confirmation process after the insertion operation.

[0007] The pre-plugging verification process is used to verify the components related to the plugging operation before the plugging operation. Optionally, this verification process includes, but is not limited to, verifying one or more of the following: the type of the components related to the plugging operation, and their state before plugging. The plugging operation process is used to implement the plugging operation. The plugging operation can be understood as inserting one component into another component to fix the two components together. The post-plugging confirmation process is used to confirm the components related to the plugging operation after the plugging operation. Optionally, this confirmation process includes, but is not limited to, confirming the state of the components related to the plugging operation after plugging.

[0008] The first data can be understood as the monitoring data in the entire insertion process, or as the data obtained by monitoring the entire insertion process through the first device. It can reflect the execution status of the entire insertion process and thus be used to obtain the detection results of the entire insertion process.

[0009] In the above method, the first device can automatically acquire the first data of the entire insertion process, and the detection device can automatically detect the entire insertion process based on the first data. In this way, there is no need to rely on manual detection. Through automated data acquisition and detection methods, the accuracy of insertion quality detection can be improved, and the detection efficiency can also be improved.

[0010] In one possible implementation of the first aspect, the first device is provided with at least one of a visual sensing module, a vibration sensing module, a sound sensing module, or a pressure sensing module. The first data includes at least one of visual data collected by the visual sensing module, vibration data collected by the vibration sensing module, sound data collected by the sound sensing module, or pressure data collected by the pressure sensing module.

[0011] Visual data throughout the entire mating process can intuitively display the type and status of the components involved in the mating operation. Vibration, sound, and pressure data generated during the mating operation can accurately reflect whether the mating operation is normal. Therefore, based on visual, vibration, sound, and pressure data, mating quality can be detected from multiple different dimensions, improving the comprehensiveness and reliability of the detection.

[0012] In one possible implementation of the first aspect, the detection device obtains at least one of the following based on visual data: a check result before the insertion operation, a first detection result of the insertion operation, or a confirmation result after the insertion operation.

[0013] In some cases, the pre-plugging verification process requires checking whether the relevant components meet preset type and / or preset state requirements. Since visual data of the relevant components can intuitively display their type and state, the detection device can verify whether the relevant components meet the preset type and / or preset state requirements based on the visual data of the relevant components before the plugging operation, thereby obtaining the pre-plugging verification result.

[0014] In some cases, the insertion operation process requires checking whether the insertion direction is correct. The insertion operation process may include the following steps: first, bringing the first component close to and aligning it with the second component, and then inserting the first component into the second component. Since the visual data during the process of bringing the first component close to the second component can visually indicate whether the insertion direction is correct, the detection device can use this visual data to detect whether the insertion direction is correct, thus obtaining the first detection result of the insertion operation.

[0015] In some cases, the confirmation process after the insertion operation requires verifying whether the components related to the insertion operation meet preset state requirements. Since the visual data of the components related to the insertion operation can intuitively display their status, the detection device can confirm whether the components related to the insertion operation meet the preset state requirements based on the visual data of the components related to the insertion operation, thereby obtaining the confirmation result after the insertion operation.

[0016] In one possible implementation of the first aspect, the insertion operation is used to insert the first component into the second component, and the third component is used to secure the first component and the second component after the insertion operation. The pre-insertion check result indicates whether the first, second, and third components meet preset type requirements and / or preset state requirements before the insertion operation. The first detection result of the insertion operation indicates whether the insertion direction is correct. The post-insertion confirmation result indicates whether the third component is in a secured state after the insertion operation.

[0017] For example, whether the relevant components (such as the first component, the second component, and the third component) before the insertion operation meet the preset type requirements includes: whether the first component is selected correctly. Whether the relevant components before the insertion operation meet the preset state requirements includes: whether the first component, the second component, and the third component are all intact; whether the protective structure of the first component has been removed; whether the pins of the first component are misaligned; and whether the third component is in a loose state. Whether the insertion direction is correct can be understood as whether the first component and the second component are aligned before the first component is inserted.

[0018] Based on the verification results before the insertion operation, the first test results of the insertion operation, and the confirmation results after the insertion operation, potential failure modes in the entire insertion process can be detected, reducing potential insertion quality issues.

[0019] In one possible implementation of the first aspect, the detection device obtains a second detection result of the insertion operation based on at least one of vibration data, sound data, or pressure data.

[0020] In some cases, the insertion process requires checking whether the insertion is normal (or in place). The insertion process may include the following steps: first, bringing the first component close to and aligning it with the second component, then inserting the first component into the second component. Since one or more of the vibration, sound, or pressure data generated during the insertion of the first component into the second component can accurately reflect whether the insertion is normal, the detection device can use one or more of these data to determine if the insertion is normal, thus obtaining a second detection result for the insertion operation.

[0021] In one possible implementation of the first aspect, if the vibration data, sound data, and pressure data each meet their corresponding conditions, the detection device determines the second detection result of the insertion operation as normal insertion. Alternatively, if at least one of the vibration data, sound data, and pressure data does not meet its corresponding condition, the detection device determines the second detection result of the insertion operation as abnormal insertion.

[0022] For example, the vibration data meeting the corresponding conditions includes: the vibration data matching preset vibration data. The preset vibration data refers to the vibration data generated during normal insertion operations when the first component and the second component are fixed by a fastening structure. This preset vibration data has a specific frequency and intensity, which can distinguish it from other vibration data (such as vibration data generated by abnormal insertion operations or other disturbances).

[0023] For example, the conditions for the sound data to meet the corresponding criteria include: the sound data matching preset sound data. The preset sound data refers to the sound data generated during normal insertion operations when the first component and the second component are fixed together by a fastening structure. This preset sound data has a specific frequency and intensity, enabling it to be distinguished from other sound data (such as sound data generated by abnormal insertion operations or other interference).

[0024] For example, the pressure data meeting the corresponding conditions includes: the pressure data matching preset pressure data. The preset pressure data represents the pressure data applied by the force-applying part during normal insertion operation, or the pressure data experienced by the force-receiving component (such as the first component or the second component) during normal insertion operation. This preset pressure data has specific intensity, peak value, and duration, enabling it to be distinguished from other pressure data (such as pressure data generated by abnormal insertion operations or other disturbances).

[0025] By comprehensively analyzing vibration, sound, and pressure data, cross-validation among multimodal data can be fully realized, which helps to eliminate interference information, thereby reducing the false judgment rate and improving the accuracy and reliability of the detection results.

[0026] In one possible implementation of the first aspect, the detection device outputs a prompt message, which includes the detection results of the entire insertion process.

[0027] The test results of the entire insertion process include at least one of the following: the verification results before the insertion operation, the first test results of the insertion operation, the second test results of the insertion operation, or the confirmation results after the insertion operation.

[0028] After obtaining the test results for the entire mating process, the testing device provides real-time feedback to the operator by outputting prompts, allowing the operator to be promptly informed and take appropriate action. For example, if an anomaly is detected, the operator can address the issue promptly based on the feedback, achieving real-time control over mating quality and preventing the anomaly from proceeding to the next stage due to delayed control.

[0029] In one possible implementation of the first aspect, the first device is provided with a prompting module, and the detection device controls the prompting module to output prompting information.

[0030] For example, the methods of providing prompts include, but are not limited to, vibration, light, voice, or visual feedback, and the prompting module includes, but is not limited to, vibration module, light module, voice module, or display module. The prompting module is located on the first device, allowing operators to quickly obtain prompt information. Furthermore, by integrating monitoring and prompting functions on the first device, it enables full utilization of the first device and saves hardware costs.

[0031] In one possible implementation of the first aspect, the prompting information also includes information to guide the correct execution of the entire mating process. Thus, the detection device provides guidance information to the operator so that the operator can operate correctly according to the guidance information. For example, in the case of an incorrect mating orientation, the prompting information can not only indicate the incorrect orientation but also the correct orientation, guiding the operator to perform the mating operation in the correct orientation.

[0032] In a second aspect, this application provides a detection apparatus comprising modules or units for performing the methods described in the first aspect or any possible implementation thereof.

[0033] In one possible implementation of the second aspect, the detection device includes an acquisition unit and a processing unit. The acquisition unit is used to acquire first data of the entire insertion process through the first device, the entire insertion process including at least one of the following: a verification process before the insertion operation, an insertion operation process, or a confirmation process after the insertion operation. The processing unit is used to obtain the detection result of the entire insertion process based on the first data.

[0034] In one possible implementation of the second aspect, the first device is provided with at least one of a visual sensing module, a vibration sensing module, a sound sensing module, or a pressure sensing module. The first data includes at least one of visual data collected by the visual sensing module, vibration data collected by the vibration sensing module, sound data collected by the sound sensing module, or pressure data collected by the pressure sensing module.

[0035] In one possible implementation of the second aspect, when the processing unit obtains the detection result of the entire insertion process based on the first data, it is specifically used to: obtain at least one of the following based on the visual data: the verification result before the insertion operation, the first detection result of the insertion operation, or the confirmation result after the insertion operation.

[0036] In one possible implementation of the second aspect, the insertion operation is used to insert the first component into the second component, and the third component is used to secure the first component and the second component after the insertion operation. The pre-insertion check result indicates whether the first, second, and third components meet preset type requirements and / or preset state requirements before the insertion operation. The first detection result of the insertion operation indicates whether the insertion direction is correct. The post-insertion confirmation result indicates whether the third component is in a secured state after the insertion operation.

[0037] In one possible implementation of the second aspect, when the processing unit obtains the detection result of the entire insertion process based on the first data, it is specifically used to: obtain a second detection result of the insertion operation based on at least one of vibration data, sound data, or pressure data.

[0038] In one possible implementation of the second aspect, when the processing unit obtains a second detection result of the insertion operation based on at least one of vibration data, sound data, or pressure data, it is specifically configured to: determine that the second detection result of the insertion operation is a normal insertion if the vibration data, sound data, and pressure data respectively meet the corresponding conditions; or determine that the second detection result of the insertion operation is an abnormal insertion if at least one of the vibration data, sound data, and pressure data does not meet the corresponding conditions.

[0039] In one possible implementation of the second aspect, the processing unit is further configured to output prompt information, which includes the detection results of the entire insertion process.

[0040] In one possible implementation of the second aspect, the first device is provided with a prompting module, which, when the processing unit outputs prompting information, is specifically used to: control the prompting module to output prompting information.

[0041] In one possible implementation of the second aspect, the prompting information also includes information to guide the correct execution of the entire plugging process.

[0042] Thirdly, this application provides a detection device including a processor. The processor is coupled to a memory and can be used to execute instructions in the memory to implement the method described in the first aspect or any possible embodiment of the first aspect. Optionally, the detection device further includes a memory. Optionally, the detection device further includes a communication interface, and the processor is coupled to the communication interface.

[0043] Fourthly, this application provides a chip comprising: logic circuitry and an interface, wherein the logic circuitry and the interface are coupled, the interface being used for inputting and / or outputting information, and the logic circuitry being used for performing the methods described in the first aspect or any possible embodiment of the first aspect. Optionally, the chip here may be a single chip or a chip system composed of multiple chips.

[0044] Fifthly, this application provides a computer-readable storage medium for storing a computer program (also referred to as code or instructions) that, when executed, implements the method described in the first aspect or any possible implementation thereof.

[0045] In a sixth aspect, this application provides a computer program product comprising a computer program (also referred to as code or instructions) that, when executed, implements the method described in the first aspect or any possible implementation thereof.

[0046] In a seventh aspect, this application provides a testing system, which includes a first device, and further includes the testing device described in the second aspect, the testing device described in the third aspect, or the chip described in the fourth aspect. The first device is used to acquire first data of the entire insertion process, which includes at least one of the following: a verification process before the insertion operation, an insertion operation process, or a confirmation process after the insertion operation.

[0047] In one possible implementation of the seventh aspect, the first device is provided with at least one of a visual sensing module, a vibration sensing module, a sound sensing module, or a pressure sensing module. The visual sensing module is used to collect visual data, the vibration sensing module is used to collect vibration data, the sound sensing module is used to collect sound data, and the pressure sensing module is used to collect pressure data.

[0048] In one possible implementation of the seventh aspect, the first device includes eyeglasses and / or gloves, the eyeglasses being provided with a visual sensing module, and the gloves being provided with at least one of a vibration sensing module, a sound sensing module, or a pressure sensing module.

[0049] In one possible implementation of the seventh aspect, the vibration sensing module is located at the web of the glove. The sound sensing module is located on the back of the glove. The pressure sensing module is located on the fingertip of the first finger of the glove, the first finger being the finger that applies force to the first or second component during the insertion operation, the insertion operation being used to insert the first component into the second component.

[0050] In one possible implementation of the seventh aspect, the first device is provided with a prompting module, which is used to output prompting information, including the detection results of the entire insertion process and / or information to guide the correct execution of the entire insertion process.

[0051] In one possible implementation of the seventh aspect, the prompting module includes any one or more of a vibration module, a light module, a voice module, or a display module.

[0052] Eighthly, this application provides a vision device equipped with a vision perception module for acquiring visual data throughout the entire insertion process. The entire insertion process includes at least one of the following: a pre-insertion verification process, an insertion operation process, or a post-insertion confirmation process. The visual data is used to obtain the detection results of the entire insertion process.

[0053] In one possible implementation of the eighth aspect, the detection results of the entire insertion process include at least one of the following: the verification results before the insertion operation, the first detection results of the insertion operation, or the confirmation results after the insertion operation.

[0054] In one possible implementation of the eighth aspect, the insertion operation is used to insert the first component into the second component, and the third component is used to secure the first component and the second component after the insertion operation. The pre-insertion check result indicates whether the first, second, and third components meet preset type requirements and / or preset state requirements before the insertion operation. The first detection result of the insertion operation indicates whether the insertion direction is correct. The post-insertion confirmation result indicates whether the third component is in a secured state after the insertion operation.

[0055] In one possible implementation of the eighth aspect, the vision device is further provided with a first prompting module, which is used to output first prompting information, including the detection results of the entire insertion process and / or information for guiding the correct execution of the entire insertion process.

[0056] In one possible implementation of the eighth aspect, the first prompting module includes any one or more of a vibration module, a light module, a voice module, or a display module.

[0057] In one possible implementation of the eighth aspect, the visual device is eyeglasses.

[0058] Ninthly, this application provides an operating device, which is equipped with a vibration sensing module. The vibration sensing module is used to acquire vibration data generated when the operating device performs a plugging operation, and the vibration data is used to obtain a second detection result of the plugging operation.

[0059] In one possible implementation of the ninth aspect, the operating device is further provided with a sound sensing module and / or a pressure sensing module. The sound sensing module is used to acquire sound data generated when the insertion operation is performed through the operating device, and the pressure sensing module is used to acquire pressure data generated when the insertion operation is performed through the operating device. The sound data and / or the pressure data are used to obtain a second detection result of the insertion operation.

[0060] In one possible implementation of the ninth aspect, the operating device is a glove.

[0061] In one possible implementation of the ninth aspect, the vibration sensing module is located at the web of the glove. The sound sensing module is located on the back of the glove. The pressure sensing module is located on the fingertip of the first finger of the glove, the first finger being the finger that applies force to the first or second component during the insertion operation, the insertion operation being used to insert the first component into the second component.

[0062] In one possible implementation of the ninth aspect, the operating device is further provided with a second prompting module, which is used to output second prompting information, including a second detection result of the insertion operation.

[0063] In one possible implementation of the ninth aspect, the second prompting module includes any one or more of a vibration module, a light module, a voice module, or a display module.

[0064] In a tenth aspect, this application provides a detection system that includes the vision device described in the eighth aspect above, and / or the operating device described in the ninth aspect above.

[0065] The beneficial effects of the second to tenth aspects mentioned above can be referred to the beneficial effects described in the first aspect, and will not be repeated here.

[0066] Furthermore, in the process of performing the method described in the first aspect or any possible embodiment of the first aspect, the processes related to sending and / or receiving information in the above method can be understood as the process of the processor outputting information and / or the process of the processor receiving input information. When outputting information, the processor can output the information to a transceiver (or communication interface, or transmitting module) so that the transceiver can transmit it. After the information is output by the processor, it may need to undergo other processing before reaching the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface, or transmitting module) receives the information and inputs it to the processor. Furthermore, after the transceiver receives the information, the information may need to undergo other processing before being input to the processor.

[0067] Based on the above principles, for example, the information sent mentioned in the aforementioned method can be understood as information output by the processor. Similarly, the information received can be understood as information received by the processor from input.

[0068] Alternatively, the operations of transmitting, sending, and receiving involved in the processor can be more generally understood as processor output and receiving, input, etc., unless otherwise specified, or if they do not contradict their actual function or internal logic in the relevant description.

[0069] Optionally, in performing the methods described in the first aspect or any possible implementation thereof, the processor may be a processor specifically designed to perform these methods, or it may be a processor that performs these methods by executing computer instructions stored in memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as read-only memory (ROM), which may be integrated with the processor on the same chip or disposed on separate chips. This application does not limit the type of memory or the arrangement of the memory and processor. Attached Figure Description

[0070] The accompanying drawings used in the embodiments of this application will be briefly described below.

[0071] Figure 1 A schematic diagram of a detection system provided in an embodiment of this application; Figure 2 A schematic diagram of a vision device provided in an embodiment of this application; Figure 3 A schematic diagram of an operating device provided in an embodiment of this application; Figure 4 This is a schematic diagram illustrating the performance of a plug-in operation via an operating device, as provided in an embodiment of this application. Figure 5 A schematic diagram of another detection system provided in an embodiment of this application; Figure 6 A schematic flowchart of a detection method provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a detection device provided in an embodiment of this application; Figure 8 This is a schematic diagram of another detection device provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of a chip provided in an embodiment of this application. Detailed Implementation

[0072] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0073] A plug-in is a method used to connect or communicate components. The quality of the plug-in (such as whether the plug is in place or whether it is secure) will affect the connection or communication between components, so it is necessary to test the plug-in quality.

[0074] Currently, the quality inspection of mating connections typically relies on manual visual inspection and tactile confirmation. For example, after performing the mating operation, the operator first observes the locking status with the naked eye, and then confirms the locking status by pulling on the connection with their hand, thereby completing the mating quality assessment.

[0075] However, manual inspection methods suffer from low accuracy. For example, they are prone to missing defects, cannot detect hidden defects such as pin misalignment or pin retraction, and have weak anomaly identification capabilities, failing to accurately determine key quality indicators such as locking status, thus posing a risk of misjudgment. Therefore, improving the accuracy of mating quality inspection is an urgent technical problem to be solved.

[0076] Therefore, embodiments of this application provide a detection method and related apparatus that can improve the accuracy of insertion quality detection.

[0077] Optionally, the detection method provided in this application embodiment can be applied to the insertion quality detection in various fields (such as automobile assembly, consumer electronics, aerospace, medical equipment, etc.), and this application embodiment does not limit it.

[0078] The detection system of this application embodiment will be described exemplarily below.

[0079] Please see Figure 1 , Figure 1 This is a schematic diagram of a detection system provided in an embodiment of this application. Figure 1 As shown, the detection system 10 of this application embodiment includes a first device 11 and a detection device 12, with the detection device 12 communicatively connected to the first device 11. The first device 11 is used to acquire first data of the entire insertion process. The detection device 12 is used to obtain the detection result of the entire insertion process based on the first data.

[0080] The entire insertion process includes at least one of the following: a verification process before insertion, an insertion process, or a confirmation process after insertion.

[0081] The pre-plugging verification process is used to verify the components related to the plugging operation before (or simply before plugging). Optionally, this verification process includes, but is not limited to, verifying one or more of the following: the type of the components related to the plugging operation, their state before plugging. In some possible implementations, before the plugging operation, one or more of the following can be verified: whether the relevant components (such as plugs, fastening components, etc.) are intact; whether the plug selection is correct; whether the plug's protective structure (such as a protective sleeve) has been removed; whether the plug pins are misaligned; or whether the fastening components (such as secondary locks, bolts, levers, push rods, etc.) are in a non-fastened state (such as an unlocked or open state).

[0082] The insertion and connection procedure is used to implement the insertion and connection operation. The insertion and connection operation can be understood as inserting one component (denoted as the first component) into another component (denoted as the second component), thus fixing the first component and the second component together. In some cases, the first component may be referred to as a male plug, and the second component may be referred to as a female plug. Optionally, after the first component is inserted into the second component, the first component and the second component are fixed together (preventing them from loosening) by a fastening structure (such as a flexible interlocking structure, a snap-fit, etc.). Optionally, this fastening structure may be located in the first component or in the second component.

[0083] The confirmation process following the insertion operation is used to verify the status of the components involved in the insertion operation after the operation (or simply after insertion). Optionally, this confirmation process includes, but is not limited to, verifying the post-insertion state of the components involved in the insertion operation. In some possible implementations, after the insertion operation, it can be verified whether the fastening component (such as a secondary lock, bolt, lever, push rod, etc.) is in a fastened state (such as a locked or closed state). This fastening component is a component set independently of the first and second components, used to fasten the first and second components after the insertion operation. In some cases, this fastening component is also referred to as a third component below.

[0084] The first data can be understood as monitoring data throughout the entire insertion process, or as data obtained by monitoring the entire insertion process through the first device 11, which reflects the execution status of the entire insertion process and can be used to obtain the detection results of the entire insertion process. Optionally, the first data includes at least one of the following: monitoring data in the verification process before the insertion operation, monitoring data in the insertion operation process, or monitoring data in the confirmation process after the insertion operation.

[0085] In some possible implementations, the first device 11 is equipped with at least one sensing module (or sensor) to collect sensing data throughout the entire insertion process, thereby obtaining first data. In some cases, the first device 11 is equipped with multiple sensing modules, and correspondingly, the first data is multimodal data, that is, sensing data including multiple modes (or types), which can reflect the execution status of the entire insertion process from multiple dimensions and provide richer reference information for subsequent detection.

[0086] Optionally, the first device 11 is equipped with at least one of a visual sensing module, a vibration sensing module, a sound sensing module, or a pressure sensing module. The visual sensing module is used to collect visual data, the vibration sensing module is used to collect vibration data, the sound sensing module is used to collect sound data, and the pressure sensing module is used to collect pressure data. Accordingly, the first data includes at least one of the visual data collected by the visual sensing module, the vibration data collected by the vibration sensing module, the sound data collected by the sound sensing module, or the pressure data collected by the pressure sensing module. It should be understood that the above-mentioned modal data are merely examples, and the first data may also include other modal data that can reflect the execution status of the entire insertion process; this application embodiment does not limit this.

[0087] After obtaining the first data, the first device 11 provides the first data to the detection device 12. Optionally, the detection device 12 includes a communication module, through which the detection device 12 obtains the first data from the first device 11. Based on the first data, the detection device 12 obtains the detection results of the entire insertion process.

[0088] Optionally, the detection results of the entire insertion process include at least one of the following: the verification results before the insertion operation, the detection results during the insertion operation, or the confirmation results after the insertion operation. For example, the detection device 12 obtains the verification results before the insertion operation based on the monitoring data in the verification process before the insertion operation. Alternatively, the detection device 12 obtains the detection results of the insertion operation based on the monitoring data in the confirmation process after the insertion operation. Yet another example is that the detection device 12 obtains the confirmation results after the insertion operation based on the monitoring data in the confirmation process after the insertion operation.

[0089] Because the detection content differs at different stages of the entire mating process, the monitoring data varies at each stage. For example, the monitoring data in the pre-mating check and post-mating confirmation processes may include visual data. Similarly, the monitoring data in the mating operation process may include visual data, as well as vibration data, sound data, or pressure data—one or more of these.

[0090] In some cases, the pre-plugging verification process requires checking whether the plugging-related components (such as the first component, the second component, the third component, etc.) meet preset type requirements and / or preset state requirements. Since the visual data of the plugging-related components can intuitively display their type and state, the monitoring data in the pre-plugging verification process can include the visual data of the plugging-related components. The detection device 12 can verify whether the plugging-related components meet the preset type requirements and / or preset state requirements based on the visual data of the plugging-related components, thereby obtaining the pre-plugging verification result. In other words, the pre-plugging verification result is used to indicate whether the plugging-related components meet the preset type requirements and / or preset state requirements.

[0091] For example, whether the components related to the plugging operation meet the preset type requirements before the plugging operation includes whether the selection of the first component is correct. For example, if the selection of the first component is correct, it can be considered that the first component meets the preset type requirements. As another example, if the selection of the first component is incorrect, it can be considered that the first component does not meet the preset type requirements.

[0092] For example, whether the components related to the insertion operation meet the preset state requirements before the insertion operation includes: whether the first component, the second component, and the third component are all intact; whether the protective structure of the first component has been removed; whether the pins of the first component are misaligned; and whether the third component is in a loose state. For example, if the first component is intact, the protective structure of the first component has been removed, and the pins of the first component are not misaligned, then the first component can be considered to meet the preset state requirements. As another example, if the first component is damaged, and / or the protective structure of the first component has not been removed, and / or the pins of the first component are misaligned, then the first component can be considered not to meet the preset state requirements. Similarly, if the second component is intact, then the second component can be considered to meet the preset state requirements. Again, if the second component is damaged, then the second component can be considered not to meet the preset state requirements. Finally, if the third component is intact and is in a loose state, then the third component can be considered to meet the preset state requirements. For example, if the third component is damaged and / or the third component is in a tight state, then the third component can be considered not to meet the preset state requirements.

[0093] Optionally, visual data of the first component, the second component, and the third component are collected by a visual perception module provided on the first device 11. The detection device 12 identifies the visual data of the first component to determine whether the first component is intact, whether the first component was selected correctly, whether the protective structure of the first component has been removed, and whether the pins of the first component are misaligned. The detection device 12 identifies the visual data of the second component to determine whether the second component is intact. The detection device 12 identifies the visual data of the third component to determine whether the third component is intact and whether the third component is in a loose state.

[0094] In one possible implementation, the detection device 12 can compare the aforementioned visual data with corresponding preset data to achieve recognition of the visual data. In another possible implementation, the detection device 12 can utilize an artificial intelligence model to recognize the aforementioned visual data.

[0095] The following example illustrates the method for recognizing the visual data of the first component, using the determination of whether the selection of the first component is correct. In this example, the first component is a male plug, and the visual data of the first component is an image of the male plug before the insertion operation (denoted as the first image) captured by a visual perception module (such as a camera). The detection device 12 recognizes the first image to determine whether the selection of the male plug is correct.

[0096] In one method, the detection device 12 compares the first image with a preset image of a correct plug, and determines whether the male plug selection is correct based on the comparison result. For example, if the comparison result indicates that the similarity between the first image and the correct plug image is greater than or equal to a first threshold, then the male plug selection is determined to be correct. Conversely, if the comparison result indicates that the similarity between the first image and the correct plug image is less than the first threshold, then the male plug selection is determined to be incorrect.

[0097] In method two, the detection device 12 uses a first artificial intelligence model to identify the first image and determines whether the male plug selection is correct based on the identification result output by the first artificial intelligence model. The first artificial intelligence model can be trained on a large amount of training data (including images of correct and incorrect plugs) and can quickly and accurately distinguish between images of correct and incorrect plugs. Optionally, the first artificial intelligence model adopts a convolutional neural network (CNN) architecture, which includes convolutional layers and fully connected layers. The first image is input into the CNN, the image features of the first image are extracted through the convolutional layers, and the identification result is output through the fully connected layers based on the image features of the first image. This identification result can indicate whether the first image is a correct plug image. For example, if the identification result indicates that the first image is a correct plug image, then the selection of the male plug is determined to be correct. Conversely, if the identification result indicates that the first image is an incorrect plug image, then the selection of the male plug is determined to be incorrect.

[0098] It is understandable that the methods for determining whether the first, second, and third components are all intact, whether the protective structure of the first component has been removed, whether the pins of the first component are crooked, and whether the third component is not in a tightened state can all refer to the methods for determining whether the selection of the first component is correct, and will not be repeated here.

[0099] In some cases, during the mating operation process, it is necessary to check whether the mating direction is correct and whether the mating operation is normal (or in place). The mating operation process may include the following steps: first, bring the first component close to and align it with the second component, and then insert the first component into the second component. Whether the mating direction is correct can be understood as whether the two are aligned before the first component is inserted into the second component. Whether the mating operation is normal can be understood as whether the two are properly connected after the first component is inserted into the second component (e.g., the mating path is open, there is no looseness, and the pins are not crooked).

[0100] Since visual data during the process of the first component approaching the second component can intuitively show whether the insertion direction of the insertion operation is correct, the monitoring data in the insertion operation process can include visual data during this process. The detection device 12 can detect whether the insertion direction of the insertion operation is correct based on the visual data during this process, thereby obtaining a first detection result for the insertion operation. In other words, the first detection result of the insertion operation is used to indicate whether the insertion direction of the insertion operation is correct.

[0101] Optionally, visual data is collected by a visual perception module on the first device 11 during the process of the first component approaching the second component. The detection device 12 identifies the visual data during the process of the first component approaching the second component, and can determine whether the insertion direction of the insertion operation is correct.

[0102] In one possible implementation, the detection device 12 can compare the aforementioned visual data with corresponding preset data to achieve recognition of the visual data. In another possible implementation, the detection device 12 can utilize an artificial intelligence model to recognize the aforementioned visual data.

[0103] The correct insertion direction for a mating operation can be determined based on the actual scenario or requirements. For example, the correct insertion direction can be vertical, meaning the first component needs to be inserted vertically into the second component. Alternatively, the correct insertion direction can be inclined, meaning the first component needs to be inserted at an angle into the second component.

[0104] The following example illustrates the method for recognizing visual data during the process of the first component approaching the second component, using the example of determining whether the first component is inserted perpendicularly into the second component. In this example, the visual data during the process of the first component approaching the second component can be an image (denoted as the second image) captured by a visual perception module (such as a camera) showing the first component about to be inserted into the second component. The detection device 12 recognizes the second image to determine whether the first component is inserted perpendicularly into the second component.

[0105] In one method, the detection device 12 compares the second image with a preset vertically interpolated image and determines whether the first component is vertically inserted into the second component based on the comparison result. For example, if the comparison result indicates that the similarity between the second image and the vertically interpolated image is greater than or equal to a second threshold, then it is determined that the first component is vertically inserted into the second component. Conversely, if the comparison result indicates that the similarity between the second image and the vertically interpolated image is less than the second threshold, then it is determined that the first component is not vertically inserted into the second component.

[0106] In method two, the detection device 12 uses a second artificial intelligence model to identify the second image, and determines whether the first component is perpendicularly inserted into the second component based on the identification result output by the second artificial intelligence model. The second artificial intelligence model can be trained on a large amount of training data (including perpendicularly inserted images and non-perpendicularly inserted images), and can quickly and accurately distinguish between perpendicularly inserted images and non-perpendicularly inserted images. Optionally, the second artificial intelligence model adopts a CNN architecture, which includes convolutional layers and fully connected layers. The second image is input into the CNN, the convolutional layers extract the image features of the second image, and the fully connected layers output the identification result based on the image features of the second image. This identification result can indicate whether the second image is a perpendicularly inserted image. For example, if the identification result indicates that the second image is a perpendicularly inserted image, then it is determined that the first component is perpendicularly inserted into the second component. Conversely, if the identification result indicates that the second image is a non-perpendicularly inserted image, then it is determined that the first component is not perpendicularly inserted into the second component.

[0107] Since one or more of the vibration data, sound data, or pressure data generated during the insertion of the first component into the second component can accurately reflect whether the insertion operation is normal, the monitoring data in the insertion operation process can also include one or more of the vibration data, sound data, or pressure data generated during the insertion of the first component into the second component. The detection device 12 can detect whether the insertion operation is normal based on one or more of the vibration data, sound data, or pressure data generated during the insertion of the first component into the second component, thereby obtaining a second detection result of the insertion operation. In other words, the second detection result of the insertion operation is used to indicate whether the insertion operation is normal.

[0108] Optionally, the vibration sensing module, sound sensing module, and pressure sensing module provided on the first device 11 collect vibration data, sound data, and pressure data generated during the insertion of the first component into the second component, respectively. The detection device 12 makes a comprehensive judgment based on the vibration data, sound data, and pressure data to determine whether the insertion operation is normal.

[0109] In one possible example, the insertion operation is determined to be normal if the vibration, sound, and pressure data each meet their respective conditions. In another possible example, the insertion operation is determined to be abnormal if at least one of the vibration, sound, and pressure data does not meet its corresponding condition. Thus, by comprehensively analyzing the vibration, sound, and pressure data, cross-validation among multimodal data can be fully realized, helping to eliminate interfering information, thereby reducing the false positive rate and improving the accuracy and reliability of the detection results.

[0110] The aforementioned vibration data, sound data, and pressure data can be understood as data within the insertion operation time window. In one possible implementation, the detection device 12 first determines the insertion operation time window, and then selects data whose time range matches the insertion operation time window from the data collected by the vibration sensing module, sound sensing module, and pressure sensing module to obtain the aforementioned vibration data, sound data, and pressure data.

[0111] For example, the vibration data meeting the corresponding conditions includes: the vibration data matching preset vibration data. The preset vibration data refers to the vibration data generated during normal insertion operations when the first component and the second component are fixed by a fastening structure (such as an elastic interlocking structure, a snap-fit, etc.). This preset vibration data has a specific frequency and intensity, which can be distinguished from other vibration data (such as vibration data generated by abnormal insertion operations or other interference). Optionally, the preset vibration data can be obtained by calibrating the vibration data during normal insertion operations, or by learning the vibration data during normal insertion operations using an artificial intelligence model, or by combining the above two methods, or by other methods; this application embodiment does not limit this.

[0112] For example, the conditions for the sound data to meet the corresponding criteria include: the sound data matches preset sound data. The preset sound data refers to the sound data generated during normal insertion operations when the first component and the second component are fixed by a fastening structure (such as an elastic interlocking structure, a snap-fit, etc.). This preset sound data has a specific frequency and intensity, which can be distinguished from other sound data (such as sound data generated by abnormal insertion operations or other interference). Optionally, the preset sound data can be obtained by calibrating the sound data during normal insertion operations, or by learning the sound data during normal insertion operations using an artificial intelligence model, or by combining the above two methods, or by other methods; this application embodiment does not limit this.

[0113] For example, the pressure data meeting the corresponding conditions includes: the pressure data matching preset pressure data. The preset pressure data represents the pressure data applied by the force-applying part during normal insertion operation, or the pressure data received by the force-bearing component (such as the first component or the second component) during normal insertion operation. This preset pressure data has specific intensity, peak value, and duration, which can distinguish it from other pressure data (such as pressure data generated by abnormal insertion operation or other interference). Optionally, the preset pressure data can be obtained by calibrating the pressure data during normal insertion operation, or by learning the pressure data during normal insertion operation through an artificial intelligence model, or by combining the above two methods, or by other methods; this application embodiment does not limit this.

[0114] In one possible implementation, the detection device 12 compares the vibration data, sound data, and pressure data with preset vibration data, preset sound data, and preset pressure data, respectively, and determines whether the insertion operation is normal based on the comparison results. Optionally, the detection device 12 uses signal processing methods, such as Fast Fourier Transform (FFT), to convert the vibration data from a time-domain signal to a frequency-domain signal, and compares it with preset vibration data based on the frequency-domain characteristics (such as frequency and intensity). Optionally, the detection device 12 uses signal processing methods, such as FFT, to convert the sound data from a time-domain signal to a frequency-domain signal, and compares it with preset sound data based on the frequency-domain characteristics (such as frequency and intensity). Optionally, the detection device 12 compares the pressure data with preset pressure data based on the time-domain characteristics (such as intensity, peak value, and duration).

[0115] For example, if the vibration data matches the preset vibration data, the sound data matches the preset sound data, and the pressure data matches the preset pressure data, the insertion operation is determined to be normal. Conversely, if the vibration data does not match the preset vibration data, and / or the sound data does not match the preset sound data, and / or the pressure data does not match the preset pressure data, the insertion operation is determined to be abnormal.

[0116] In another possible implementation, the detection device 12 uses a third artificial intelligence model, a fourth artificial intelligence model, and a fifth artificial intelligence model to identify vibration data, sound data, and pressure data, respectively, and determines whether the insertion operation is normal based on the identification results output by the third artificial intelligence model, the fourth artificial intelligence model, and the fifth artificial intelligence model.

[0117] The third artificial intelligence model can be trained based on a large amount of training data (including vibration data from normal insertion operations and other vibration data), and can quickly and accurately distinguish between vibration data from normal insertion operations and other vibration data. Optionally, vibration data is input into the third artificial intelligence model, and the third artificial intelligence model outputs a vibration recognition result, which can indicate whether the vibration data is from a normal insertion operation.

[0118] The fourth artificial intelligence model can be trained on a large amount of training data (including sound data from normal plug-in operations and other sound data), and can quickly and accurately distinguish sound data from normal plug-in operations and other sound data. Optionally, sound data is input into the fourth artificial intelligence model, and the fourth artificial intelligence model outputs a sound recognition result, which can indicate whether the sound data is sound data from a normal plug-in operation.

[0119] The fifth AI model can be trained on a large amount of training data (including pressure data from normal plugging operations and other pressure data), and can quickly and accurately distinguish pressure data from normal plugging operations and other pressure data. Optionally, pressure data is input into the fifth AI model, and the fifth AI model outputs a pressure recognition result, which can indicate whether the pressure data is pressure data from normal plugging operations.

[0120] For example, if the vibration identification result indicates that the vibration data is normal for a normal insertion operation, the sound identification result indicates that the sound data is normal for a normal insertion operation, and the pressure identification result indicates that the pressure data is normal for a normal insertion operation, then the insertion operation is determined to be normal. Conversely, if the vibration identification result indicates that the vibration data is not normal for a normal insertion operation, and / or the sound identification result indicates that the sound data is not normal for a normal insertion operation, and / or the pressure identification result indicates that the pressure data is not normal for a normal insertion operation, then the insertion operation is determined to be abnormal.

[0121] In some cases, the confirmation process after the insertion operation needs to verify whether the components related to the insertion operation meet preset state requirements. Since the visual data of the components related to the insertion operation can intuitively display their status, the monitoring data in the confirmation process after the insertion operation can include the visual data of the components related to the insertion operation. The detection device 12 can confirm whether the components related to the insertion operation meet the preset state requirements based on the visual data of the components related to the insertion operation, thereby obtaining the confirmation result after the insertion operation. In other words, the confirmation result after the insertion operation is used to indicate whether the components related to the insertion operation meet the preset state requirements.

[0122] For example, whether the components related to the insertion operation meet the preset state requirements after the insertion operation includes whether the third component is in a tightened state. For instance, if the third component is in a tightened state after the insertion operation, it can be considered that the third component meets the preset state requirements. Conversely, if the third component is not in a tightened state after the insertion operation, it can be considered that the third component does not meet the preset state requirements.

[0123] Optionally, the visual data of the third component can be collected by the visual perception module provided on the first device 11, and the detection device 12 can identify the visual data of the third component to determine whether the third component is in a tight state.

[0124] In one possible implementation, the detection device 12 can compare the aforementioned visual data with corresponding preset data to achieve recognition of the visual data. In another possible implementation, the detection device 12 can utilize an artificial intelligence model to recognize the aforementioned visual data.

[0125] The following example illustrates the method for recognizing the visual data of a third component, using the determination of whether the third component is in a secured state as an example. In this example, the third component is a secondary lock, and the visual data of the third component is an image (denoted as the third image) of the secondary lock after the insertion operation, captured by a visual perception module (such as a camera). The detection device 12 recognizes the third image to determine whether the secondary lock is in a locked state.

[0126] In method one, the detection device 12 compares the third image with a preset image of the secondary lock's locked state, and determines whether the secondary lock is in a locked state based on the comparison result. For example, if the comparison result indicates that the similarity between the third image and the image of the secondary lock's locked state is greater than or equal to a third threshold, then the secondary lock is determined to be in a locked state. Conversely, if the comparison result indicates that the similarity between the third image and the image of the secondary lock's locked state is less than the third threshold, then the secondary lock is determined to be in a unlocked state.

[0127] In method two, the detection device 12 uses a sixth artificial intelligence model to identify the third image and determines whether the secondary lock is in a locked state based on the identification result output by the sixth artificial intelligence model. The sixth artificial intelligence model can be trained on a large amount of training data (including images of the secondary lock locked state and images of the secondary lock unlocked state), and can quickly and accurately distinguish between images of the secondary lock locked state and images of the secondary lock unlocked state. Optionally, the sixth artificial intelligence model adopts a CNN architecture, which includes convolutional layers and fully connected layers. The third image is input into the CNN, the image features of the third image are extracted through the convolutional layers, and the identification result is output through the fully connected layers based on the image features of the third image. This identification result can indicate whether the third image is in a secondary lock locked state. For example, if the identification result indicates that the third image is in a secondary lock locked state, then the secondary lock is determined to be in a locked state. Similarly, if the identification result indicates that the third image is in a secondary lock unlocked state, then the secondary lock is determined to be unlocked.

[0128] After obtaining the detection results of the entire insertion process, the detection device 12 can also provide real-time feedback to the operator so that the operator can be informed and take appropriate action in a timely manner. For example, if there are abnormalities in the detection results (such as incorrect plug selection, misaligned plug pins, incorrect insertion direction, incomplete insertion operation, or failure to lock the secondary lock after insertion operation), the operator can handle the abnormality in a timely manner based on the feedback, achieving real-time control of insertion quality and preventing abnormalities from entering the next process due to delayed control.

[0129] In one possible implementation, the detection device 12 outputs a prompt message, which includes the detection results of the entire insertion process. This prompt message is fed back to the operator so that the operator is aware of the detection results of the entire insertion process.

[0130] Optionally, the prompting information may also include information to guide the correct execution of the entire insertion process. Thus, the detection device 12 can also provide guidance information to the operator so that the operator can operate correctly according to the guidance information. For example, in the case of incorrect insertion direction during the insertion operation, the prompting information can not only indicate the incorrect insertion direction but also indicate the correct insertion direction, guiding the operator to perform the insertion operation in the correct direction.

[0131] For example, the methods of providing prompts include, but are not limited to, vibration, light, voice, or visual feedback. In some cases, the prompts are output through a prompting module; in other words, the prompting module is used to output prompts. For example, the prompting module includes, but is not limited to, vibration, light, voice, or display modules. Providing prompts in multiple ways can enhance the prompting effect.

[0132] Optionally, the prompting module is located on the first device 11, and the detection device 12 controls the prompting module on the first device 11 to output prompting information. Alternatively, the detection device 12 includes a prompting module, and the detection device 12 outputs prompting information through the prompting module.

[0133] Optionally, the first device 11 is equipped with a vibration module, which provides a prompting function through vibration. For example, if the detection result is abnormal, the vibration module vibrates according to a first vibration mode. Alternatively, if the detection result is normal, the vibration module does not vibrate or vibrates according to a second vibration mode. The second vibration mode differs from the first vibration mode; for example, the vibration frequency of the first vibration mode is higher than that of the second vibration mode. In some possible implementations, the vibration sensing module on the first device 11 is used as the vibration module itself, meaning that the vibration sensing module can both collect vibration data and emit vibration signals.

[0134] Optionally, the first device 11 is equipped with a light module, which provides a prompting function through light. For example, if the detection result is abnormal, the light module displays a first color. Alternatively, if the detection result is normal, the light module displays a second color. The second color is different from the first color; for example, the first color is red, and the second color is green.

[0135] Optionally, the first device 11 is equipped with a voice module, which provides prompts via voice. For example, if the detection result is abnormal, the voice module outputs a first voice message. Conversely, if the detection result is normal, the voice module outputs a second voice message. The second voice message differs from the first voice message; for example, the first voice message is "NG," and the second voice message is "OK." In some possible implementations, the sound sensing module on the first device 11 is used as the voice module, meaning that the sound sensing module can both collect sound data and emit voice information.

[0136] Optionally, the first device 11 is equipped with a display module, which provides a prompt function through a screen. For example, if the detection result is abnormal, the display module displays a first screen. Alternatively, if the detection result is normal, the display module displays a second screen. The second screen differs from the first screen; for instance, the first screen outlines the detection area and labels it "abnormal," while the second screen outlines the detection area and labels it "normal."

[0137] Optionally, the display module displays an augmented reality (AR) image. AR images enhance the visual presentation and help operators efficiently obtain prompts.

[0138] Optionally, the first device 11 is equipped with an interaction module for interacting with the operator. Human-machine interaction enables collaborative verification, ensuring detection reliability. For example, the operator sends a request or instruction through the interaction module, and the detection device 12 controls the interaction module to output response information. Optionally, the sound perception module or voice module on the first device 11 can be used as the interaction module.

[0139] Several examples of the first device 11 are provided below.

[0140] Example 1: The first device 11 includes a vision device.

[0141] The vision device is equipped with a vision perception module, which acquires visual data throughout the entire insertion process. This visual data is used to obtain the detection results of the entire insertion process. The entire insertion process includes at least one of the following: a pre-insertion verification process, the insertion operation process, or a post-insertion confirmation process. The detection results of the entire insertion process include at least one of the following: the pre-insertion verification result, the first detection result of the insertion operation, or the post-insertion confirmation result.

[0142] For example, the visual perception module is communicatively connected to the detection device 12, and the visual perception module provides visual data to the detection device 12. The detection device 12 obtains the detection results of the entire insertion process based on the visual data. Optionally, the detection device 12 obtains visual data from the visual perception module through the communication module.

[0143] Optionally, the vision device further includes a first prompt module, which outputs first prompt information. This first prompt information includes the detection results of the entire insertion process and / or information guiding the correct execution of the entire insertion process. For example, the first prompt module is communicatively connected to the detection device 12, and the detection device 12 controls the first prompt module to output the first prompt information.

[0144] Optionally, the first prompt module includes any one or more of a vibration module, a light module, a voice module, or a display module.

[0145] Optionally, the vision device may also include a first interaction module for interacting with the operator. Optionally, the first interaction module may include a voice module.

[0146] Optionally, the vision device is a wearable vision device worn by the operator. The operator wears the vision device throughout the entire insertion process and monitors the entire insertion process through the vision perception module set on the vision device.

[0147] Optionally, the vision device is eyeglasses. The eyes are the operator's observation point. The operator wears eyeglasses to monitor the entire connection process. The visual data monitored by the visual perception module set on the eyeglasses can be matched with the information observed by the operator's naked eye.

[0148] Optionally, the glasses are AR smart glasses.

[0149] Optionally, the visual perception module is a camera.

[0150] Please see Figure 2 , Figure 2 This is a schematic diagram of a vision device provided in an embodiment of this application. Figure 2 Let's take eyeglasses as an example for illustration. Figure 2 As shown, a visual perception module 21 is provided on the frame of the glasses 20. Optionally, a display module 22 is provided on the lenses of the glasses 20. Optionally, an interaction module 23 is also provided on the frame of the glasses 20.

[0151] It should be understood that the above Figure 2 This is only one possible schematic diagram of glasses 20; in other examples, glasses 20 may also be configured with... Figure 2 The number of modules can be increased or decreased, and the module placement can also be adjusted accordingly. Figure 2 different.

[0152] In addition, for the content not specifically described in Example 1 above, please refer to the relevant descriptions in the preceding text, which will not be repeated here.

[0153] Example 2: The first device 11 includes an operating device.

[0154] The operating device is equipped with a vibration sensing module, which is used to acquire vibration data generated when the insertion operation is performed through the operating device. The vibration data is used to obtain the second detection result of the insertion operation.

[0155] For example, the vibration sensing module is communicatively connected to the detection device 12. The vibration sensing module provides vibration data to the detection device 12, and the detection device 12 obtains a second detection result of the insertion operation based on the vibration data. Optionally, the detection device 12 obtains vibration data from the vibration sensing module through a communication module.

[0156] Optionally, the operating device is also equipped with a sound sensing module, which is used to acquire sound data generated when the plugging operation is performed through the operating device, and the sound data is used to obtain a second detection result of the plugging operation.

[0157] For example, the sound sensing module is communicatively connected to the detection device 12, and the sound sensing module provides sound data to the detection device 12. The detection device 12 obtains a second detection result of the insertion operation based on the vibration data and the sound data. Optionally, the detection device 12 obtains sound data from the sound sensing module through the communication module.

[0158] Optionally, the operating device is also equipped with a pressure sensing module, which is used to acquire pressure data generated when the insertion operation is performed through the operating device, and the pressure data is used to obtain a second detection result of the insertion operation.

[0159] For example, the pressure sensing module is communicatively connected to the detection device 12. The pressure sensing module provides pressure data to the detection device 12. The detection device 12 obtains a second detection result of the insertion operation based on the vibration data and pressure data, or obtains a second detection result of the insertion operation based on the vibration data, sound data, and pressure data. Optionally, the detection device 12 obtains pressure data from the pressure sensing module through the communication module.

[0160] Optionally, the operating device is further provided with a second prompt module, which is used to output a second prompt message, including a second detection result of the insertion operation. For example, the second prompt module is communicatively connected to the detection device 12, and the detection device 12 controls the second prompt module to output the second prompt message.

[0161] Optionally, the second prompt module includes any one or more of a vibration module, a light module, a voice module, or a display module.

[0162] Optionally, the operating device is further provided with a second interaction module, which is used to interact with the operator. Optionally, the second interaction module includes a voice module.

[0163] Optionally, the operating device is a wearable device for the operator. The operator wears the operating device during the insertion operation and monitors the insertion operation through the vibration sensing module, sound sensing module and pressure sensing module provided on the operating device.

[0164] Optionally, the operating device is a glove or finger cot. Hands are the part of the body that operators are accustomed to using, and wearing gloves or finger cots when performing insertion operations conforms to the operator's operating habits.

[0165] The structure of the operating device is described below as an example.

[0166] In one possible design, the operating device includes a structure for a first finger to wear (referred to as the first structure), and a vibration sensing module is provided within a first preset distance range of the first structure. The vibration sensing module is used to acquire vibration data generated when the first finger performs an insertion operation.

[0167] In this context, the first finger refers to the finger that performs the insertion operation. Taking the insertion operation for inserting a first component into a second component as an example, the first finger can include the finger that applies force to the first component and / or the second component during the insertion operation. For example, the first finger can be the thumb.

[0168] The vibration signal generated when the first finger performs the insertion operation can be transmitted from the first finger to other locations. The intensity of the vibration signal weakens as the transmission distance increases, affecting the accuracy of the vibration signal. The first preset distance range can be understood as the distance range within which the vibration signal can be accurately received. In other words, the vibration sensing module is located within the first preset distance range of the first structure, enabling it to accurately receive the vibration signal generated when the first finger performs the insertion operation, thereby obtaining accurate vibration data.

[0169] Taking a glove as an example, the vibration sensing module can be placed at the web of the hand. The web of the hand is close to the location where the vibration signal is generated. Placing the vibration sensing module at the web of the hand can obtain accurate vibration data without affecting the insertion and connection operation.

[0170] Optionally, a sound sensing module is provided within a second preset distance range of the first structure. The sound sensing module is used to acquire sound data generated when the first finger performs an insertion operation.

[0171] The sound signal generated when the first finger performs the insertion operation can diffuse from the first finger to other locations. The intensity of the sound signal weakens as the diffusion distance increases, affecting the accuracy of the sound signal. The second preset distance range can be understood as the distance range within which the sound signal can be accurately received. In other words, if the sound sensing module is located within the second preset distance range of the first structure, it can accurately receive the sound signal generated when the first finger performs the insertion operation, thereby obtaining accurate sound data.

[0172] Taking a glove as an example, the sound sensing module can be located on the back of the glove. The back of the glove is close to the location where the sound signal is generated. By placing the sound sensing module on the back of the glove, accurate sound data can be obtained without affecting the insertion operation.

[0173] Optionally, a pressure sensing module is provided at the position where it contacts the fingertip of the first finger in the first structure. The pressure sensing module is used to acquire pressure data generated when the first finger performs an insertion operation.

[0174] In the first structure, the position where the fingertip of the first finger contacts the point of contact can be understood as the position where the first finger applies force when performing the insertion operation. The pressure sensing module, located at this position, can accurately receive the pressure signal generated when the first finger performs the insertion operation, thereby obtaining accurate pressure data. Taking a glove as an example, the pressure sensing module can be located at the fingertip of the first finger of the glove.

[0175] Please see Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of an operating device provided in an embodiment of this application. Figure 4 This is a schematic diagram illustrating an operation performed by an operating device according to an embodiment of this application. Figure 3 and Figure 4 The illustration uses a glove as an example of an operating device. Figure 3 and Figure 4 As shown, taking the right-hand glove as an example, glove 30 includes a glove for the first finger ( Figure 3 and Figure 4 The first structure 31 (for the thumb) of the glove 30 is equipped with a vibration sensing module 32 located at the web of the hand. Optionally, a sound sensing module 33 is located on the back of the hand. Optionally, a pressure sensing module 34 is located on the fingertip of the first finger of the glove 30. Figure 4 As shown, taking the insertion operation for inserting the first component a into the second component b as an example, the fingertip of the first finger of the glove 30 is also the position where the first finger contacts the first component a, which is also the position where the first finger applies force to the first component a.

[0176] It should be understood that the above Figure 3This is only one possible schematic diagram of glove 30; in other examples, glove 30 may also be configured with... Figure 3 The number of modules can be increased or decreased, and the module placement can also be adjusted accordingly. Figure 3 Different. Alternatively, the above module could also be placed on the left-hand glove.

[0177] In addition, for the content not specifically described in Example 2 above, please refer to the relevant descriptions in the preceding text, which will not be repeated here.

[0178] Example 3: The first device 11 includes a vision device and an operation device.

[0179] In other words, the first device 11 can be a combination of a vision device and an operation device. For a detailed description of the vision device and the operation device, please refer to the relevant descriptions in Examples 1 and 2 above; they will not be repeated here.

[0180] Based on the aforementioned vision device and operating device, another detection system will be introduced below.

[0181] Please see Figure 5 , Figure 5 This is a schematic diagram of another detection system provided in an embodiment of this application. For example... Figure 5 As shown, the detection system 50 of this embodiment includes an operating device 51. Optionally, the detection system 50 further includes a vision device 52. Optionally, the detection system 50 further includes a detection device 53, which is communicatively connected to both the operating device 51 and the vision device 52. Optionally, the detection device 53 includes a communication module, through which it acquires data from the operating device 51 and / or the vision device 52.

[0182] For a detailed description of the operating device 51, the vision device 52, and the detection device 53, please refer to the descriptions of the operating device, vision device, and detection device in the preceding text; they will not be repeated here.

[0183] The detection method provided in the embodiments of this application is described below.

[0184] Please see Figure 6 , Figure 6 This is a schematic flowchart illustrating a detection method provided in an embodiment of this application. Optionally, this detection method is applied to a detection device, such as... Figure 1 or Figure 5 The detection device is shown. For ease of description, this application uses the detection device as the execution subject in the embodiment. In actual implementation, the execution subject of this detection method can be other names, which are explained uniformly here.

[0185] like Figure 6As shown, the detection method may include, but is not limited to, the following steps S601 to S602.

[0186] S601, the detection device obtains the first data of the entire insertion process through the first device.

[0187] The entire plug-in process includes at least one of the following: a verification process before the plug-in operation, the plug-in operation process, or a confirmation process after the plug-in operation.

[0188] S602, the detection device obtains the detection results of the entire insertion process based on the first data.

[0189] In the above method, the first device can automatically acquire the first data of the entire insertion process, and the detection device can automatically detect the entire insertion process based on the first data. In this way, there is no need to rely on manual detection. Through automated data acquisition and detection methods, the accuracy of insertion quality detection can be improved, and the detection efficiency can also be improved.

[0190] In one possible implementation, the first device is equipped with at least one of a visual sensing module, a vibration sensing module, a sound sensing module, or a pressure sensing module. The first data includes at least one of visual data collected by the visual sensing module, vibration data collected by the vibration sensing module, sound data collected by the sound sensing module, or pressure data collected by the pressure sensing module.

[0191] In one possible implementation, the detection device obtains at least one of the following based on visual data: the verification result before the insertion operation, the first detection result of the insertion operation, or the confirmation result after the insertion operation.

[0192] In one possible implementation, the insertion operation is used to insert a first component into a second component, and a third component is used to secure the first and second components after the insertion operation. The pre-insertion check result indicates whether the first, second, and third components meet preset type and / or preset state requirements before the insertion operation. The first detection result of the insertion operation indicates whether the insertion direction is correct. The post-insertion confirmation result indicates whether the third component is securely fastened after the insertion operation.

[0193] In one possible implementation, the detection device obtains a second detection result of the insertion operation based on at least one of vibration data, sound data, or pressure data.

[0194] In one possible implementation, if the vibration data, sound data, and pressure data each meet their respective conditions, the detection device determines the second detection result of the insertion operation as normal insertion. Alternatively, if at least one of the vibration data, sound data, and pressure data does not meet its corresponding condition, the second detection result of the insertion operation is determined to be abnormal insertion.

[0195] In one possible implementation, the detection device outputs a prompt message, which includes the detection results of the entire insertion process. The detection results of the entire insertion process include at least one of the following: the verification result before the insertion operation, the first detection result of the insertion operation, the second detection result of the insertion operation, or the confirmation result after the insertion operation.

[0196] In one possible implementation, the first device is equipped with a prompting module, and the detection device controls the prompting module to output prompting information.

[0197] In one possible implementation, the prompt message also includes information to guide the correct execution of the entire plugging process.

[0198] about Figure 6 For details not specifically described in the illustrated embodiments, please refer to the relevant descriptions above; they will not be repeated here.

[0199] The following is an exemplary description of the application of the embodiments of this application in the scenario of full-process quality traceability of plug-in.

[0200] Pre-configure baseline data for the entire insertion process, such as insertion sequence, requirements for insertion operation-related components (such as plugs, secondary locks, etc.), and reference data for insertion process-related data (such as visual data, vibration data, sound data, pressure data, etc.).

[0201] Before the insertion operation, the detection device checks the relevant components based on visual data, provides real-time feedback on the check results, and takes photos of the initial state of the relevant components for archiving.

[0202] During the insertion operation, the detection device integrates multimodal data (such as vibration data, sound data, and pressure data) to detect the insertion operation, provides real-time feedback on the detection results, issues early warnings for insertion abnormalities, and archives the abnormal situations.

[0203] After the insertion operation, the detection device confirms the relevant components based on visual data, provides real-time feedback on the confirmation results, and takes photos of the inserted state of the relevant components for archiving.

[0204] The detection device generates a quality report based on the above-mentioned full-process data, and provides the above-mentioned full-process data and the quality report to a management system, such as a manufacturing execution system (MES), to achieve closed-loop management.

[0205] In this way, a traceability link for the full process data of plugging is constructed, which helps to analyze and improve quality problems. For example, when a quality problem occurs, it is possible to quickly trace back to the abnormal links and abnormal data that caused the quality problem, and handle them accordingly, thereby improving the effect and efficiency of quality control.

[0206] The following provides a device for implementing any one of the methods in the embodiments of the present application. It can be understood that the multiple devices provided in the embodiments of the present application, such as detection devices, chips, etc., in order to implement the functions in the above method embodiments, include corresponding hardware structures, software units, or combinations of hardware structures and software structures for performing various functions. Those skilled in the art should easily realize that the various functions, devices, and modules described in combination with the embodiments disclosed herein can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different device implementation methods in different usage scenarios to implement the foregoing method embodiments, and different implementation methods of the device should not be considered to exceed the scope of the embodiments of the present application. The following lists several possible devices.

[0207] Please refer to Figure 7 , Figure 7 which is a schematic structural diagram of a detection device provided in an embodiment of the present application. The detection device 700 can be implemented in a hardware, software, or combination of hardware and software manner. As Figure 7 shown, the detection device 700 includes: an acquisition unit 701 and a processing unit 702. The description of each unit is as follows: The acquisition unit 701 is used to obtain first data of the full process of plugging through a first device. The full process of plugging includes at least one of the following: a verification process before the plugging operation, a plugging operation process, or a confirmation process after the plugging operation. The processing unit 702 is used to obtain a detection result of the full process of plugging based on the first data.

[0208] In a possible implementation manner, at least one of a visual perception module, a vibration perception module, a sound perception module, or a pressure perception module is provided on the first device. The first data includes at least one of visual data collected by the visual perception module, vibration data collected by the vibration perception module, sound data collected by the sound perception module, or pressure data collected by the pressure perception module.

[0209] In one possible implementation, when the processing unit 702 obtains the detection result of the entire insertion process based on the first data, it is specifically used to: obtain at least one of the following based on the visual data: the verification result before the insertion operation, the first detection result of the insertion operation, or the confirmation result after the insertion operation.

[0210] In one possible implementation, the insertion operation is used to insert a first component into a second component, and a third component is used to secure the first and second components after the insertion operation. The pre-insertion check result indicates whether the first, second, and third components meet preset type and / or preset state requirements before the insertion operation. The first detection result of the insertion operation indicates whether the insertion direction is correct. The post-insertion confirmation result indicates whether the third component is securely fastened after the insertion operation.

[0211] In one possible implementation, when the processing unit 702 obtains the detection results of the entire insertion process based on the first data, it is specifically used to: obtain a second detection result of the insertion operation based on at least one of vibration data, sound data, or pressure data.

[0212] In one possible implementation, when the processing unit 702 obtains a second detection result of the insertion operation based on at least one of vibration data, sound data, or pressure data, it is specifically configured to: determine that the second detection result of the insertion operation is a normal insertion if the vibration data, sound data, and pressure data respectively meet the corresponding conditions; or determine that the second detection result of the insertion operation is an abnormal insertion if at least one of the vibration data, sound data, and pressure data does not meet the corresponding conditions.

[0213] In one possible implementation, the processing unit 702 is also used to output prompt information, which includes the detection results of the entire insertion process.

[0214] In one possible implementation, the first device is provided with a prompting module, and when the processing unit 702 outputs prompting information, it is specifically used to: control the prompting module to output prompting information.

[0215] In one possible implementation, the prompt message also includes information to guide the correct execution of the entire plugging process.

[0216] According to the embodiments of this application, Figure 7The various units in the illustrated device can be individually or entirely combined into one or more other units, or some of the units can be further divided into multiple functionally smaller units. This achieves the same operation without affecting the technical effects of the embodiments of this application. The above units are based on logical function division. In practical applications, the function of one unit can be implemented by multiple units, or the function of multiple units can be implemented by one unit. In other embodiments of this application, the above device may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented collaboratively by multiple units. It should be noted that the implementation of each unit can also refer to the corresponding description of the above method embodiments.

[0217] Please see Figure 8 , Figure 8 This is a schematic diagram of another detection device provided in an embodiment of this application. The detection device 800 may include a processor 801. Optionally, the detection device 800 may also include a memory 802. Further optionally, the detection device 800 may also include a communication interface 803 and a bus 804. The processor 801, memory 802, and communication interface 803 are interconnected via the bus 804. The communication interface 803 is used for data interaction with other devices.

[0218] The processor 801 is a module that performs arithmetic and logical operations. It can be one or a combination of processing modules such as a central processing unit (CPU), a graphics processing unit (GPU), or a microprocessor unit (MPU). The processor 801 can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0219] The memory 802 is used to provide storage space, in which data such as the operating system and computer programs can be stored. The memory 802 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0220] In one possible design, the detection device 800 may correspond to the detection device in the above method embodiments. For example, the detection device 800 may be the detection device in the above method embodiments, or it may be a processor, circuit, chip, or chip system in the detection device. The detection device 800 may include components for performing the operations performed by the detection device in the above method embodiments. Furthermore, each component in the detection device 800 is configured to implement the operations performed by the detection device in the above method embodiments. The processor 801 calls a computer program stored in the memory 802 to execute the method shown in the above method embodiments.

[0221] Optionally, the detection device 800 may be a chip or a chip system. For the case where the detection device 800 is a chip or a chip system, please refer to [link to relevant documentation]. Figure 9 The diagram shows the structure of the chip.

[0222] like Figure 9 As shown, chip 900 includes processor 901 and interface 902. There can be one or more processors 901, and multiple interfaces 902. It should be noted that the functions of processor 901 and interface 902 can be implemented through hardware design, software design, or a combination of both; no restrictions are placed here.

[0223] Optionally, the chip 900 may also include a memory 903 for storing necessary program instructions and data.

[0224] In this application, processor 901 can be used to call the implementation program of the detection method provided in one or more embodiments of this application on a terminal from memory 903, and execute the instructions contained in the program. Interface 902 can be used to output the execution result of processor 901. In this application, interface 902 can be specifically used to output various messages or information of processor 901.

[0225] The detection methods provided by one or more embodiments of this application can be referred to the above-described method embodiments, and will not be repeated here.

[0226] This application also provides a computer-readable storage medium storing a computer program, which, when executed, implements the method described in the above embodiments.

[0227] This application also provides a computer program product, which includes a computer program. When the computer program is executed, it implements the method described in the above embodiments.

[0228] It should be understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory can be a hard disk drive (HDD), a solid-state drive (SSD), ROM, programmable read-only memory (PROM), EPROM, electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be RAM, which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.

[0229] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. This computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions shown in the embodiments of this application are performed entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, a computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video optical disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both types of storage media.

[0230] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments provided herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0231] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0232] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0233] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0234] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0235] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the technology, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods shown in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0236] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

[0237] In addition, a few additional points need to be made regarding this application: In this application, the words "exemplarily" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplarily" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0238] The ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects, and are not used to limit the order, sequence, priority, or importance of the multiple objects. Furthermore, "first" and "second" are not necessarily different. In addition, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0239] The term "embodiment" as used herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the various embodiments of this application are consistent and can be mutually referenced, and technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0240] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0241] It is understood that in the description of this application, "when," "if," and "if" all refer to the device making a corresponding action under certain objective circumstances, and are not time-limited, nor do they require the device to make a judgment action when it is implemented, nor do they mean that there are other limitations.

[0242] It should be noted that, in this application, "instruction" can include direct instruction, indirect instruction, explicit instruction, and implicit instruction. When describing a certain instruction information for the purpose of instructing A, it can be understood that the instruction information carries A, directly instructs A, or indirectly instructs A.

Claims

1. A detection method, characterized in that, include: The first device acquires the first data of the entire insertion process, which includes at least one of the following: a verification process before the insertion operation, the insertion operation process, or a confirmation process after the insertion operation. Based on the first data, the detection results of the entire insertion process are obtained.

2. The method according to claim 1, characterized in that, The first device is equipped with at least one of a visual sensing module, a vibration sensing module, a sound sensing module, or a pressure sensing module. The first data includes at least one of the following: visual data collected by the visual perception module, vibration data collected by the vibration perception module, sound data collected by the sound perception module, or pressure data collected by the pressure perception module.

3. The method according to claim 2, characterized in that, The step of obtaining the detection results of the entire insertion process based on the first data includes: Based on the visual data, at least one of the following is obtained: the verification result before the insertion operation, the first detection result of the insertion operation, or the confirmation result after the insertion operation.

4. The method according to claim 3, characterized in that, The insertion operation is used to insert the first component into the second component, and the third component is used to fasten the first component and the second component after the insertion operation; The verification results prior to the plugging operation are used to indicate whether the first component, the second component, and the third component meet the preset type requirements and / or preset state requirements before the plugging operation. The first detection result of the insertion operation is used to indicate whether the insertion direction of the insertion operation is correct; The confirmation result after the insertion operation is used to indicate whether the third component is in a tightened state after the insertion operation.

5. The method according to claim 2, characterized in that, The step of obtaining the detection results of the entire insertion process based on the first data includes: A second detection result of the insertion operation is obtained based on at least one of the vibration data, the sound data, or the pressure data.

6. The method according to claim 5, characterized in that, The second detection result of the insertion operation, obtained based on at least one of the vibration data, the sound data, or the pressure data, includes: If the vibration data, the sound data, and the pressure data each meet their corresponding conditions, the second detection result of the insertion operation is determined to be that the insertion is normal; or... If at least one of the vibration data, the sound data, and the pressure data does not meet the corresponding condition, the second detection result of the insertion operation is determined to be an insertion abnormality.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Output a prompt message, which includes the detection results of the entire insertion process.

8. The method according to claim 7, characterized in that, The first device is equipped with a prompting module, and the output prompting information includes: Control the prompt module to output the prompt information.

9. The method according to claim 7 or 8, characterized in that, The prompt information also includes information to guide the correct execution of the entire insertion process.

10. A detection device, characterized in that, Includes a unit for performing the method as described in any one of claims 1 to 9.

11. A detection device, characterized in that, The method includes a processor coupled to a memory storing program instructions that, when executed by the processor, implement the method of any one of claims 1 to 9.

12. A chip, characterized in that, It includes logic circuits and interfaces, wherein the logic circuits and the interfaces are coupled; The interface is used for inputting and / or outputting information, and the logic circuit is used for performing the method as described in any one of claims 1 to 9.

13. A detection system, characterized in that, It includes a first device, and a detection device as claimed in claim 10, or a detection device as claimed in claim 11, or a chip as claimed in claim 12; The first device is used to acquire first data of the entire insertion process, which includes at least one of the following: a verification process before the insertion operation, an insertion operation process, or a confirmation process after the insertion operation.

14. The detection system according to claim 13, characterized in that, The first device is equipped with at least one of a visual sensing module, a vibration sensing module, a sound sensing module, or a pressure sensing module. The visual perception module is used to collect visual data, the vibration perception module is used to collect vibration data, the sound perception module is used to collect sound data, and the pressure perception module is used to collect pressure data.

15. The detection system according to claim 14, characterized in that, The first device includes glasses and / or gloves, wherein the glasses are provided with the visual sensing module, and the gloves are provided with at least one of the vibration sensing module, the sound sensing module, or the pressure sensing module.

16. The detection system according to claim 15, characterized in that, The vibration sensing module is located at the web of the hand on the glove; The sound sensing module is located on the back of the glove; The pressure sensing module is located at the fingertip of the first finger of the glove. The first finger is the finger that applies force to the first component or the second component during the insertion operation, which is used to insert the first component into the second component.

17. The detection system according to any one of claims 13 to 16, characterized in that, The first device is equipped with a prompting module, which is used to output prompting information, including the detection results of the entire insertion process and / or information to guide the correct execution of the entire insertion process.

18. The detection system according to claim 17, characterized in that, The prompting module includes any one or more of the following: a vibration module, a light module, a voice module, or a display module.

19. A visual device, characterized in that, The vision device is equipped with a vision perception module, which is used to acquire visual data of the entire insertion process. The entire insertion process includes at least one of the following: a verification process before the insertion operation, an insertion operation process, or a confirmation process after the insertion operation. The visual data is used to obtain the detection results of the entire insertion process.

20. The visual device according to claim 19, characterized in that, The detection results of the entire insertion process include at least one of the following: the verification results before the insertion operation, the first detection results of the insertion operation, or the confirmation results after the insertion operation.

21. The visual device according to claim 20, characterized in that, The insertion operation is used to insert the first component into the second component, and the third component is used to fasten the first component and the second component after the insertion operation; The verification results prior to the plugging operation are used to indicate whether the first component, the second component, and the third component meet the preset type requirements and / or preset state requirements before the plugging operation. The first detection result of the insertion operation is used to indicate whether the insertion direction of the insertion operation is correct; The confirmation result after the insertion operation is used to indicate whether the third component is in a tightened state after the insertion operation.

22. The visual device according to any one of claims 19 to 21, characterized in that, The vision device is also provided with a first prompting module, which is used to output first prompting information. The first prompting information includes the detection results of the entire insertion process and / or information used to guide the correct execution of the entire insertion process.

23. The visual device according to any one of claims 19 to 22, characterized in that, The visual device is eyeglasses.

24. An operating device, characterized in that, The operating device is equipped with a vibration sensing module, which is used to acquire vibration data generated when the operating device performs a plugging operation. The vibration data is used to obtain a second detection result of the plugging operation.

25. The operating device according to claim 24, characterized in that, The operating device is also equipped with a sound sensing module and / or a pressure sensing module. The sound sensing module is used to acquire sound data generated when the insertion operation is performed through the operating device, and the pressure sensing module is used to acquire pressure data generated when the insertion operation is performed through the operating device. The sound data and / or the pressure data are used to obtain a second detection result of the insertion operation.

26. The operating device according to claim 24 or 25, characterized in that, The operating device is a glove.

27. The operating device according to claim 26, characterized in that, The vibration sensing module is located at the web of the hand on the glove; The sound sensing module is located on the back of the hand of the glove; The pressure sensing module is located at the fingertip of the first finger of the glove. The first finger is the finger that applies force to the first component or the second component during the insertion operation, which is used to insert the first component into the second component.

28. The operating device according to any one of claims 24 to 27, characterized in that, The operating device is also provided with a second prompt module, which is used to output a second prompt message, including the second detection result of the plugging operation.

29. A detection system, characterized in that, include: The vision device as claimed in any one of claims 19 to 23, and / or the operating device as claimed in any one of claims 24 to 28.

30. A computer program product, characterized in that, The computer program product includes a computer program, which, when executed, performs the method as described in any one of claims 1 to 9.

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