Aircraft plug joint identification method and welding system

Abstract

This invention belongs to the field of automated welding technology, specifically a method and system for identifying solder joints in aviation connectors. The method involves acquiring and preprocessing images of the aviation connector and cable; before image acquisition, the cable wires are constrained to fixed spatial positions using clamps; key feature points of the aviation connector are extracted, precisely located at sub-pixel levels, and their three-dimensional spatial coordinates are calculated; wire ends are detected near the ends of each guide groove, and the correspondence between wires and pins is determined based on the numbering sequence of the guide grooves; the cable type is identified to match welding parameters; the precise location of the solder joint is determined based on the three-dimensional coordinates and the structural model of the aviation connector; and the solder joint coordinate information and welding parameters are output for use by the welding system. This invention reduces the difficulty of visual recognition and improves system reliability and recognition success rate by constraining scattered wires to fixed positions using clamps.

Description

Technical Field

[0001] This invention belongs to the field of automated welding technology, specifically a method and welding system for identifying solder joints in aviation plugs. Background Technology

[0002] The statements in this section merely refer to the background art related to this invention and do not necessarily constitute prior art.

[0003] Aviation connectors are critical connection components in avionics equipment, and the welding quality between them and cables directly affects the overall reliability and service life of the system. Currently, aviation connector cable welding mainly relies on manual operation, which suffers from low precision, low efficiency, and poor consistency. Existing automation solutions employ fixed tooling for positioning, applicable only to single connector models and unable to quickly switch between different models; some systems introduce monocular vision or template matching, but acquire only two-dimensional information, which is insufficient to meet the requirements for precise three-dimensional positioning.

[0004] The core obstacle faced by existing technologies lies in the fact that before soldering aviation connectors, the conductors of multi-core cables are scattered, exhibiting twists, crosses, and mutual obstruction. Conventional visual recognition methods can only see the chaotic lines, unable to automatically distinguish the end position of each conductor, let alone establish the correspondence between conductors and pins, resulting in a high recognition failure rate. Summary of the Invention

[0005] To address the difficulty in establishing pin correspondences during aviation connector soldering when wires are scattered, twisted, or obstructed, a special fixture is used to constrain the ends of multi-core cables to fixed spatial positions before soldering. This eliminates twisting, crossing, and obstruction between wires, simplifying the complex problem of identifying scattered wires into the problem of detecting a single wire end in a fixed position. This reduces the difficulty of visual recognition, allowing conventional image recognition algorithms to work reliably.

[0006] The first aspect of the present invention discloses a method for identifying solder joints of an aviation connector, comprising the following steps; Acquire and preprocess images of the aviation plug and cable; the cable wires are fixed in pin order by a fixture before image acquisition, and the fixture is equipped with guide grooves; Based on the image of the aircraft plug, the key feature points of the aircraft plug are extracted, sub-pixel precise positioning is performed, and the three-dimensional spatial coordinates of the key feature points are calculated. Based on the cable image, the wire ends constrained to fixed positions are detected in a predetermined area at the end of each guide groove, and the correspondence between each wire end and the pin is determined according to the numbering order of the guide grooves of the fixture. Determine the cable type and match the corresponding welding parameters; Based on three-dimensional coordinates and an aviation plug structure model, the precise location of the solder joints is determined; the solder joint coordinate information and welding parameters are output for use by the welding system.

[0007] As a further implementation, the fixture is a transparent flat plate structure with the same number of guide slots as the aviation plug pins. Each guide slot extends inward from the edge of the fixture, and the number of the guide slots is mapped one-to-one with the number of the aviation plug pins. The fixture is also equipped with positioning marks for calculating the spatial pose of the fixture.

[0008] As a further implementation, the positioning markers are at least three non-collinear reference points set on the fixture, and the reference points are circular, cross-shaped, or checkerboard patterns.

[0009] As a further implementation, when inspecting the wire ends, the fixture pose is calculated by identifying the positioning marks on the fixture, and then the three-dimensional coordinates of each wire end are calculated based on the preset geometric dimensions of the fixture. The correspondence between each wire end and the pin is determined by the numbering order of the fixture guide grooves.

[0010] As a further implementation, the fixture has guide slots that correspond one-to-one with the pins of the aviation plug. The arrangement of each guide slot is the same as the pin arrangement of the target aviation plug, and the number of the guide slot is mapped one-to-one with the pin number.

[0011] As a further implementation, the fixture is equipped with a positioning structure that mates with the worktable or aviation plug positioning seat to ensure that the relative positional relationship between the fixture and the aviation plug remains consistent during multiple clamping operations.

[0012] As a further implementation, the fixture is made of a light-transmitting material or has a hollow structure to avoid obstructing the imaging of the wire ends.

[0013] As a further implementation, the inner wall of the guide groove of the fixture is provided with an elastic clamping structure to accommodate wires of different diameters and keep the wire ends in a stable position within the groove.

[0014] A second aspect of the present invention discloses an aviation plug soldering system, comprising: A six-axis robot with a welding device at its end for performing welding. A binocular camera vision system for real-time acquisition of stereo images of aviation plugs and cables; A clamp is used to fix the cable wires in the pin order of the aviation plug before image acquisition, and the clamp is provided with positioning marks for identification by the binocular camera; Control system, including: The image processing module is used to execute the aviation plug solder joint recognition method and calculate the three-dimensional coordinates of the solder joint; The path planning module is used to plan the robot's motion trajectory based on three-dimensional coordinates. The robot control module is used to drive the robot to perform welding operations.

[0015] Compared with existing technologies, one or more of the above technical solutions have the following beneficial effects: By introducing a specialized fixture for wire preprocessing, the complex problem of identifying multiple scattered wires is simplified to the problem of detecting the end of a single wire at a fixed position. This allows conventional vision algorithms to reliably detect each wire end, avoiding the risks of complex algorithm development and failure, and improving system robustness and recognition success rate. Furthermore, the guide slots of the fixture correspond one-to-one with the pins. Operators place the wires into the corresponding guide slots according to the pin order; the correspondence between wires and pins is guaranteed by the clamping order, eliminating the need for online matching and improving recognition speed. Attached Figure Description

[0016] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0017] Figure 1 A flowchart illustrating a method for identifying solder joints of an aviation plug provided in one or more embodiments of the present invention; Figure 2 A schematic diagram illustrating the working process of an aviation plug welding system provided in one or more embodiments of the present invention; Figure 3 A schematic diagram of a clamp structure provided for one or more embodiments of the present invention; In the diagram: 1 guide groove, 2 liner, 3 limiting plate, 4 reference point. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0020] As described in the background section, before soldering, the conductors of multi-core cables are scattered, exhibiting twists, crosses, and mutual obstruction. Conventional visual recognition methods can only perceive the chaotic lines, failing to automatically distinguish the end positions of each conductor, let alone establish the correspondence between conductors and pins, resulting in a high recognition failure rate.

[0021] In addition to addressing the core obstacle of establishing the correspondence between the wires and pins, this solution also needs to address two more nuanced issues in the soldering of aviation connectors: First, the pin spacing is very small (usually 0.3-0.8mm), and the allowable error for solder joint positioning is no more than 0.05mm. Conventional binocular vision is affected by pixel quantization errors, making it difficult to meet the requirements for feature point positioning accuracy. Second, aviation cables are diverse (including shielded cables, coaxial cables, twisted pairs, etc.), with significant differences in heat capacity, heat resistance, and insulation material, requiring different soldering parameters. Existing systems cannot automatically distinguish between cable types.

[0022] To address the aforementioned issues, this solution proposes corresponding processing strategies, which are detailed below with reference to specific implementation methods.

[0023] For ease of description, this solution is defined as follows: A cable is composed of multiple conductors. The end of each conductor is stripped of its outer sheath to expose the metal conductor, and this is called the conductor end. Aviation connectors have several pins; during soldering, the wire ends are soldered to the corresponding pins, and the connection points after soldering are called solder joints.

[0024] The "establishment of correspondence between wires and pins" mentioned in this solution refers to determining which pin each wire end should be soldered to.

[0025] Example 1: like Figure 1 As shown, the method for identifying solder joints of aviation connectors includes the following steps: (1) Image acquisition: The stereo images of the aviation plug and cable are acquired simultaneously using a binocular camera to obtain visual data of the target area. The binocular camera uses a high-resolution industrial camera to ensure image clarity.

[0026] To ensure the accuracy of subsequent 3D coordinate calculations, the binocular cameras need to be calibrated, and the camera coordinate system and robot coordinate system need to be unified. The calibration process employs Zhang Zhengyou's checkerboard calibration method, acquiring multiple sets of checkerboard images in different poses to calculate the camera's intrinsic parameter matrix, distortion coefficients, and the rotation matrix and translation vector between the left and right cameras. Coordinate system transformation uses hand-eye calibration. Given the pose of the calibration plate in the robot's base coordinate system, the transformation matrix from the camera coordinate system to the robot's end effector is solved, thereby transforming the 3D coordinates of the weld point to the robot's base coordinate system for direct use by the welding system.

[0027] (2) Image preprocessing: The acquired images are preprocessed with noise reduction, contrast enhancement and other operations to highlight the key features of the aviation plug and cable. Preprocessing includes Gaussian filtering for noise reduction, histogram equalization to enhance contrast, edge detection and other steps.

[0028] (3) Key feature extraction: Identify the structural features of the aircraft plug end face (such as pin arrangement, positioning groove, marking points, etc.) and extract key feature points for matching. The feature extraction algorithm adopts the SIFT algorithm, which can identify typical structural features of the aircraft plug and is not affected by image rotation and slight deformation.

[0029] To address the challenges of small pin pitch and insufficient accuracy with conventional binocular vision, subpixel precision positioning technology is employed. In aviation connector soldering scenarios, pin pitch is small, and the allowable solder joint error is ≤0.05mm. However, the error for integer pixel-level positioning is approximately 0.3~0.5 pixels, which translates to about 0.03~0.05mm in three-dimensional space, approaching the upper limit of error. Subpixel interpolation can improve the feature point positioning accuracy to the 0.1 pixel level, reducing the corresponding spatial error to around 0.01mm, thus meeting the accuracy requirements.

[0030] Implementation details: After SIFT initially detects integer-pixel-level feature points, a 3×3 pixel neighborhood is taken centered on this point. A bivariate quadratic surface is fitted to the grayscale values ​​of 9 points within this neighborhood. The fitting equation is: I(x,y)=a·x 2 +b·y 2 +c·xy+d·x+e·y+f. Solve for the coefficients a~f using the least squares method. Take the partial derivative of the fitted equation and set it to zero to obtain the sub-pixel level extreme point coordinates: x_sub=(2b·dc·e) / (c 2 -4a·b), y_sub=(2a·ec·d) / (c 2 -4a·b).

[0031] (4) Detection and positioning of conductor ends.

[0032] This solution uses clamps to constrain the wire ends to a fixed position, eliminating twists, crossings, and occlusions between wires, allowing conventional vision algorithms to reliably detect each wire end. Details are as follows: Wire Pre-processing: Before image acquisition, operators place each wire of the multi-core cable into the corresponding slot of a dedicated fixture according to the pin arrangement of the aviation connector. The workers clamp the wires in pin order, ensuring a one-to-one correspondence between the fixture guide slot numbers and the aviation connector pin numbers. This correspondence between wires and pins is directly guaranteed by the clamping order. After image acquisition, the fixture is removed. Because the wire ends have been shaped by the guide slots, they maintain their approximate position through their own plasticity, and the vision system can perform real-time compensation during subsequent welding steps.

[0033] The fixture body is made of easily machinable acrylic or polycarbonate material, and is translucent to avoid obstructing the wire ends and aviation connectors during image acquisition. The fixture has guide grooves that correspond one-to-one with the pins. These guide grooves are U-shaped through-slots machined by wire cutting, and their width is designed to accommodate wires of the largest diameter. An elastic rubber pad clamping structure is embedded in the inner wall of the guide groove to adaptively clamp wires of different diameters, ensuring that the wire ends are stably and uniformly positioned within the groove.

[0034] like Figure 3 As shown, the fixture body includes multiple guide grooves 1 arranged in parallel, and a pad 2 for fixing the wire is provided in the guide groove 1; the end of the guide groove 1 faces the limiting plate 3.

[0035] In this embodiment, the fixture body is a flat plate structure, formed by processing acrylic or polycarbonate material. Multiple guide grooves 1 are formed on the fixture body, the number of which is the same as the number of pins on the target aviation plug. Each guide groove 1 is a U-shaped through groove extending inward from the edge of the fixture body, with its opening located at the outer periphery of the fixture body.

[0036] In use, the fixture body is placed horizontally on the workbench and fixed to the workbench with screws. The operator inserts each wire into the corresponding guide groove 1 from above the fixture slot, so that the end of the wire is aligned with the limiting plate 3.

[0037] The inner wall of the guide groove 1 is provided with a pad 2, which is elastic and used to press the wire. In this embodiment, the pad 2 is an elastic rubber pad, and there are at least two of them, which are respectively arranged on both sides of the groove opening of the guide groove 1. For wires of different diameters, the elastic rubber pad can automatically press the wire to the center position of the guide groove, thereby ensuring that the three-dimensional coordinate deviation of the wire ends of different diameters in the fixture coordinate system is within a set range (such as ±0.1mm).

[0038] The guide groove 1 is provided with a limiting plate 3 at its end. When the wire is pushed in and abuts the limiting plate 3, it reaches the predetermined position. At this time, the axial position of the wire end is uniquely determined.

[0039] The fixture body has at least three non-collinear reference points 4. In this embodiment, the reference points 4 are located at the four corners of the fixture and are high-precision circular reference points with a matte finish to prevent ambient light reflection. A central crosshair is provided at the center of each reference point as an identification mark, making the reference points clearly distinguishable from structures such as circular pin holes that may exist on the aviation plug. The binocular camera calculates the spatial pose of the fixture by identifying the reference points 4.

[0040] Wire End Detection: After image acquisition, the system employs conventional visual detection algorithms (such as template matching or edge detection) to detect the metallic conductor features of the wire ends within predetermined areas near the ends of each guide groove 1. Since the fixture constrains the wire ends to fixed spatial positions, the detection area can be reduced to a small neighborhood of each guide groove end, eliminating the need for searching the entire image. This results in fast detection speed and high reliability. Furthermore, because the fixture eliminates twists, crossings, and occlusions between wires, adjacent wire ends do not interfere with each other, allowing conventional algorithms to operate stably.

[0041] Calculation of conductor end coordinates: The system identifies the image coordinates of multiple reference points 4 on the fixture, combines them with the known precise physical coordinates of the reference points in the fixture's own coordinate system, and uses a perspective n-point positioning algorithm to calculate the pose transformation matrix of the fixture coordinate system relative to the camera coordinate system. Since the position of the conductor end in the fixture is determined by the fixture's precise mechanical dimensions and the limiting plate 3, its coordinates in the fixture coordinate system are pre-calibrated and stored as prior data in the system. Using the obtained pose transformation matrix, the three-dimensional coordinates of each conductor end in the camera coordinate system are calculated through coordinate transformation.

[0042] Determining the correspondence: Since the staff has placed the wires into the corresponding guide slots according to the pin order, the wire end detected in the nth guide slot corresponds to the nth pin. This correspondence is guaranteed by the clamping order and does not require online matching by the system. The system can determine the precise position of each solder joint based on the detected 3D coordinates of the wire end and the pre-stored aviation plug structure model.

[0043] For different types of fixtures and aviation plugs, the control system only needs to load the preset fixture description file, including the physical coordinates of the reference point, the geometric topology of the guide groove, and the number mapping table, to adapt to different types of plugs.

[0044] For different types of fixtures and aviation plugs, the control system only needs to load the preset fixture description file, including the physical coordinates of the positioning marks, the geometric topology of the guide groove, and the numbering mapping table.

[0045] (5) Feature matching: The extracted feature points are matched with the pre-stored aircraft plug structure model to determine the precise position and attitude of the aircraft plug.

[0046] In a preferred embodiment, the matching algorithm employs the RANSAC algorithm, which can handle different lighting conditions and image quality.

[0047] (6) 3D coordinate calculation: Utilizing the principle of binocular stereo matching, the 3D coordinates of the feature points in space are calculated based on the correspondence between the feature points in the left and right images. For the micro-scale localization problem, the following optimization strategy is adopted: Epipolar correction: The Bouguet epipolar correction algorithm is used to reproject the left and right images to align the epipolar lines of the two images horizontally, thus narrowing the matching search range.

[0048] Adaptive window NCC matching: A normalized cross-correlation algorithm is used, and the window size is automatically adjusted according to the local texture complexity. Texture complexity is quantized using local grayscale variance: for large variance (>100), the window size is 7×7, and for small variance (<30), the window size is 15×15, with linear interpolation in between.

[0049] Multi-frame fusion: For critical solder joints, 3-5 frames of images are continuously acquired, and their 3D coordinates are calculated separately. The median value is taken as the final output. The triangulation principle calculates depth based on parallax: Z = f·B / d. The calculation accuracy can reach ±0.05mm.

[0050] (7) Cable type identification and parameter matching.

[0051] To address the challenges of diverse cable types and varying welding parameters, an automatic cable identification method based on an SVM classifier is employed.

[0052] Implementation details: Sufficient cable data meeting the requirements is collected for training. An RBF kernel SVM is used, with mesh search to optimize parameters, resulting in high accuracy. The system has a built-in welding parameter database, automatically retrieving corresponding parameters such as preheating time, welding temperature, and power based on the recognition results.

[0053] (8) Solder joint positioning: Based on the aviation connector structural model and three-dimensional coordinates, the precise spatial coordinates of each solder joint are determined. The solder joint positions are derived through geometric relationships, without relying on fixed tooling. The structural model contains the standard dimensions and pin arrangement information of the aviation connector.

[0054] (9) Output of results: The calculated weld point coordinate information (x, y, z values ​​in the robot base coordinate system) and welding parameters are output to the welding control system to guide the welding device to perform precise positioning and welding.

[0055] Taking the welding of a certain type of aviation connector cable as an example, the process of identifying the solder joint is as follows: The aviation plug and cable to be soldered are placed on the worktable, and a binocular camera captures their stereo images and preprocesses them to enhance the feature contrast of the pins and cable ends. Based on the preprocessed image, the positioning feature points of the aviation plug end face are extracted, such as the pin arrangement pattern and the positioning groove outline, and sub-pixel precise positioning is performed; the wire ends are detected in the predetermined area near the end of each guide groove, and the correspondence between each wire end and the pin is determined according to the clamping order. By using a feature matching algorithm, the extracted feature points are matched with the aircraft plug structure model to determine the precise position and orientation of the plug. The three-dimensional coordinates of the matching point are calculated, and the cable type is identified and the corresponding welding parameters are matched through epipolar correction, adaptive matching and multi-frame fusion optimization. The spatial location of each weld point is derived by combining the structural model, and the coordinate information and welding parameters are output to the welding control system to guide the welding device to perform precise welding.

[0056] Example 2: Aviation plug soldering system, including: Six-axis robot: Employing a high-precision six-axis collaborative robot with a repeatability of ±0.02mm, suitable for precision welding tasks. The robot's end effector is equipped with a welding device, enabling multi-degree-of-freedom motion control. Force sensors are included to monitor welding force in real time during the welding process, preventing weld damage caused by excessive pressure.

[0057] Binocular camera vision system: Composed of high-resolution industrial binocular cameras, mounted at a fixed position on the robot's end effector or work area, used to simultaneously acquire stereo images of aviation plugs and cables. The system is equipped with a ring LED light source to ensure clear images under various lighting conditions. The camera mounting angle is optimized to ensure optimal field of view coverage of the welding area of ​​the aviation plugs and cables.

[0058] Soldering Equipment: Includes replaceable soldering tools (such as soldering iron tips) and auxiliary mechanisms for performing soldering operations. The soldering tools are adaptable to aviation plug types and cable specifications, supporting adjustments for parameters such as temperature and solder delivery. Auxiliary mechanisms include cleaning sponges and flux application components to maintain the soldering tools in good condition. The soldering equipment is equipped with a temperature sensor to monitor the soldering temperature in real time, preventing insulation damage caused by overheating.

[0059] The control system comprises an image processing module, a path planning module, and a robot control module. The image processing module extracts features and calculates coordinates from images acquired by the binocular camera; the path planning module generates the robot's motion trajectory, ensuring the welding tool accurately reaches the target position while avoiding motion interference; and the robot control module drives the robot to perform welding actions. The control system integrates a user interface, supporting process parameter setting and process monitoring.

[0060] System workflow as follows Figure 2 As shown, it includes the following steps: (1) Work preparation: Fix the aviation plug and cable to the workbench. The system automatically identifies the plug model and retrieves the preset process parameters, and automatically loads the corresponding welding parameters, including temperature, welding time, solder feed amount, etc.

[0061] (2) Image acquisition: The binocular camera simultaneously acquires stereo images of the aviation plug and cable to obtain visual data of the target area. During the image acquisition process, the system automatically adjusts the camera focal length and exposure parameters to ensure image clarity.

[0062] (3) Image processing: The control system preprocesses and extracts features from the acquired images, and determines the three-dimensional coordinates of key feature points of the aircraft plug through a feature matching algorithm. Preprocessing includes steps such as image denoising, contrast enhancement, and edge detection.

[0063] (4) Solder joint positioning: Based on the three-dimensional coordinates of key feature points and the structural model of the aviation plug, the precise spatial position of each solder joint is calculated. The system uses the standard structural model of the aviation plug and derives the coordinates of the solder joints through geometric relationships.

[0064] (5) Path planning: The control system plans the robot's motion trajectory based on the coordinates of the welding point to ensure that the welding tool can accurately reach the target position while avoiding motion interference. The path planning takes into account the robot's kinematic constraints and safety distance to ensure smooth motion.

[0065] (6) Welding operation: The robot drives the welding device to perform welding, and the system automatically adjusts the welding parameters to adapt to the current workpiece. During the welding process, the system monitors the welding temperature and pressure in real time to ensure the welding quality.

[0066] (7) Quality Inspection: After welding is completed, the system performs a quality assessment of the weld joints, automatically marks abnormal weld joints and prompts for re-welding. Quality inspection includes weld joint appearance inspection, connection strength testing, etc.

[0067] (8) Result Output: The welding results and quality data are fed back to the control system to support process optimization and quality traceability. The system generates a welding report, including the coordinates, parameters, and quality assessment results of each weld point.

[0068] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for identifying solder joints of aviation connectors, characterized in that, Includes the following steps: Acquire and preprocess images of the aviation plug and cable; the cable wires are fixed in pin order by a fixture before image acquisition, and the fixture is equipped with guide grooves; Based on the image of the aircraft plug, the key feature points of the aircraft plug are extracted, sub-pixel precise positioning is performed, and the three-dimensional spatial coordinates of the key feature points are calculated. Based on the cable image, the wire ends constrained to fixed positions are detected in a predetermined area at the end of each guide groove, and the correspondence between each wire end and the pin is determined according to the numbering order of the guide grooves of the fixture. Determine the cable type and match the corresponding welding parameters; Based on three-dimensional coordinates and an aviation plug structure model, the precise location of the solder joints is determined; the solder joint coordinate information and welding parameters are output for use by the welding system.

2. The method for identifying solder joints of aviation plugs as described in claim 1, characterized in that, The fixture is a transparent flat plate structure with guide slots on it, the same number as the aviation plug pins. Each guide slot extends inward from the edge of the fixture, and the number of the guide slots is mapped one-to-one with the number of the aviation plug pins. The fixture is also equipped with positioning marks for calculating the spatial pose of the fixture.

3. The method for identifying solder joints of aviation plugs as described in claim 1, characterized in that, The fixture is equipped with positioning marks, which are used by the binocular camera to identify and calculate the spatial pose of the fixture.

4. The method for identifying solder joints of aviation plugs as described in claim 3, characterized in that, The positioning marks are at least three non-collinear reference points set on the fixture, and the reference points are circular, cross-shaped, or checkerboard patterns.

5. The method for identifying solder joints of aviation plugs as described in claim 1, characterized in that, When inspecting wire ends, the fixture pose is calculated by identifying the positioning marks on the fixture, and the three-dimensional coordinates of each wire end are calculated based on the preset geometric dimensions of the fixture. The correspondence between each wire end and the pin is determined by the numbering sequence of the fixture guide grooves.

6. The method for identifying solder joints of aviation plugs as described in claim 1, characterized in that, The fixture has guide slots that correspond one-to-one with the pins of the aviation plug. The arrangement of each guide slot is the same as the pin arrangement of the target aviation plug, and the number of the guide slot is mapped one-to-one with the pin number.

7. The method for identifying solder joints of aviation plugs as described in claim 1, characterized in that, The fixture is equipped with a positioning structure that cooperates with the worktable or aviation plug positioning seat to ensure that the relative positional relationship between the fixture and the aviation plug remains consistent during multiple clamping operations.

8. The method for identifying solder joints of aviation plugs as described in claim 1, characterized in that, The clamp is made of a light-transmitting material or has a hollow structure to avoid obstructing the imaging of the wire end.

9. The method for identifying solder joints of an aviation plug as described in claim 1, characterized in that, The guide groove of the clamp is provided with an elastic clamping structure to accommodate wires of different diameters and keep the wire end in a stable position in the groove.

10. An aviation plug welding system, characterized in that, include; A six-axis robot with a welding device at its end for performing welding. A binocular camera vision system for real-time acquisition of stereo images of aviation plugs and cables; A clamp is used to fix the cable wires in the pin order of the aviation plug before image acquisition, and the clamp is provided with positioning marks for identification by the binocular camera; Control system, including: The image processing module is used to execute the aviation plug solder joint identification method as described in any one of claims 1-9, and to calculate the three-dimensional coordinates of the solder joint; The path planning module is used to plan the robot's motion trajectory based on three-dimensional coordinates. The robot control module is used to drive the robot to perform welding operations.

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