CN114441807B - A wiring method and system - Google Patents

Abstract

The present application provides a wiring method and system. The wiring system includes a controller, a robot arm, and an industrial camera, a connector and a sensor arranged at the end of the robot arm. The method includes: the controller acquires the position information of the target interface collected by the industrial camera; the controller controls the mechanical arm according to the position information to make the connector contact the target interface; the controller acquires the distance between the connector and the target interface collected by the sensor Contact force; the controller adjusts the pose of the robotic arm according to the contact force to reduce the contact force; when the contact force is less than the deviation threshold, the controller controls the robotic arm to insert the connector into the target interface. It can be seen that in the technical solution provided by this application, the controller adjusts the position and posture of the mechanical arm according to the position information of the target interface collected by the industrial camera and the contact force collected by the sensor, which can quickly realize the high precision of the connecting head and the target interface Docking, thereby improving the debugging efficiency of electronic equipment.

Description

A kind of wiring method and system

technical field

The present application relates to the technical field of equipment debugging, in particular to a wiring method and system.

Background technique

Electronic equipment needs performance debugging before leaving the factory or during maintenance to ensure that all functions of the electronic equipment are in good condition, so that users can use the electronic equipment normally. When debugging an electronic device, a debugger needs to use a debugging data cable to establish a connection with the electronic device in order to obtain debugging data.

For different performance debugging such as antenna radio frequency conduction and battery charging of electronic equipment, debugging personnel need to connect different debugging data lines to corresponding interfaces on the electronic equipment. For example, when conducting radio frequency conduction tests on the antenna of an electronic device, the debugger needs to connect the antenna debugging data cable to the antenna interface of the electronic device; when charging and debugging the electronic device, the debugger needs to connect the charging and debugging data cable to the connected to the charging port.

Usually, when debugging the performance of an electronic device, the debugger first needs to place the electronic device to be tested on the operating table, then select the debugging data line according to the performance debugging requirements, and finally observe the electronic device with the naked eye, find the corresponding interface, and manually connect the It takes a long time to insert the debugging data cable into the interface, resulting in low debugging efficiency. In the case of performance debugging of a large number of electronic devices, if each electronic device is manually wired to different interfaces by debuggers, it will greatly reduce the debugging efficiency of the entire production line or maintenance line, and affect the delivery speed of electronic devices.

Contents of the invention

The present application provides a wiring method and system to solve the problem that manual wiring takes a long time, resulting in low efficiency of electronic equipment debugging.

In the first aspect, the present application provides a wiring method, which is applied to a wiring system. The wiring system includes a controller, a robotic arm, an industrial camera, a connector, and a sensor. The industrial camera, the connector, and the sensor are arranged at the end of the robotic arm. , the controller is coupled with the mechanical arm, the industrial camera, the connector and the sensor; the method includes: the controller obtains the position information of the target interface collected by the industrial camera; the controller controls the mechanical arm according to the position information, so that the connector contacts the target interface ; The controller obtains the contact force between the connector and the target interface collected by the sensor; the controller adjusts the pose of the manipulator according to the contact force to reduce the contact force; when the contact force is less than the deviation threshold, the controller controls the manipulator, Insert the connector into the target interface.

According to the above wiring method, the controller controls the mechanical arm to change the pose according to the position information of the target interface collected by the industrial camera and the contact force collected by the sensor, which can quickly realize the high-precision docking between the connector and the target interface, thereby improving the debugging of electronic equipment. efficiency.

In an optional implementation, the controller adjusts the pose of the robotic arm according to the contact force to reduce the contact force, including: the controller judges whether the contact force is less than the deviation threshold; if the contact force is greater than or equal to the deviation threshold, the controller The pose deviation is calculated according to the contact force; the controller adjusts the pose of the manipulator according to the pose deviation to reduce the contact force. In this implementation, the controller can determine whether the connector is aligned with the target interface by comparing the contact force with the deviation threshold. Moreover, the controller can adjust the pose of the manipulator according to the pose deviation, so that the contact force is less than the deviation threshold, so as to align the connector with the target interface.

In an optional implementation, the contact force includes the components of the force between the connector and the target interface along each axis of the three-dimensional coordinate system of the sensor, and the components of the force between the connector and the target interface about each axis of the three-dimensional coordinate system of the sensor. shaft torque. In this implementation, the controller can finely adjust the pose of the robotic arm from six dimensions according to the contact force, improve the alignment accuracy between the connector and the target interface, and realize high-precision docking between the connector and the target interface.

In an optional implementation manner, before the controller calculates the pose deviation according to the contact force, the controller further includes: the controller acquires an inertia matrix, a damping matrix, and a stiffness matrix. In this implementation, since the contact force model between the position of the manipulator and the external environment can be equivalently represented by a second-order "inertia-damping-spring" system, the controller, according to the inertia matrix, damping matrix, and stiffness matrix and contact force, the pose deviation can be calculated.

In an optional implementation, the contact force and pose deviation satisfy the following formula:

Among them, F is the contact force, ΔX is the pose deviation, M is the inertia matrix, B is the damping matrix, and K is the stiffness matrix; the pose deviation includes the translation of the connector along each axis of the three-dimensional coordinate system of the sensor, and the rotation of the connector around The rotation angle of each axis on the sensor's three-dimensional coordinate system.

In an optional implementation, before judging whether the contact force is less than the deviation threshold, it also includes: the controller judges whether the contact force is less than the safety threshold; if the contact force is greater than or equal to the safety threshold, the controller controls the mechanical arm to retreat to make the connection The header and target interfaces are separated. In this implementation, the controller can judge whether there is a collision between the connector and the target interface by comparing the contact force with the safety threshold, so as to prevent the structure of the connector and the target interface from being damaged, and ensure that the connector and the target interface Security of interface contact.

In an optional implementation, the position information includes two-dimensional plane position information and depth information of the target interface in the industrial camera coordinate system; the controller obtains the position information of the target interface collected by the industrial camera, including: the controller obtains the industrial The first image and depth information collected by the camera, the first image contains the target interface; the controller matches the first image with the pre-stored second image to obtain the outline of the target interface from the first image; the controller determines the Two-dimensional plane position information, the two-dimensional plane position information includes the center point coordinates of the outline; the controller obtains the three-dimensional coordinate information of the target interface in the industrial camera coordinate system according to the depth information and the center point coordinates. In this implementation mode, the controller can obtain the three-dimensional coordinate information of the target interface in the industrial camera coordinate system through the industrial camera, and the controller adjusts the pose of the robotic arm according to the three-dimensional coordinate information, so that the connector contacts the target interface.

In an optional implementation manner, the controller matching the first image with the pre-stored second image to obtain the outline of the target interface from the first image includes: the controller uses an edge detection algorithm to extract Get the outline of the target interface.

In an optional implementation manner, the controller determining the two-dimensional plane position information according to the contour includes: the controller calculating the two-dimensional plane position information according to the first-order central moment.

In the second aspect, the present application provides a wiring system. The wiring system includes a controller, a robot arm, an industrial camera, a connector and a sensor. The industrial camera, the connector and the sensor are arranged at the end of the robot arm. The controller and the robot arm, The industrial camera, the connector and the sensor are coupled; among them, the industrial camera is used to collect the position information of the target interface; the controller is used to obtain the position information, and according to the position information, controls the mechanical arm to make the connector contact the target interface; the sensor, It is used to collect the contact force between the connector and the target interface; the controller is also used to obtain the contact force, and adjust the pose of the manipulator according to the contact force to reduce the contact force; the controller is also used to obtain the contact force when the contact force is less than When the deviation threshold is reached, the robotic arm is controlled to insert the connector into the target interface.

According to the above wiring system, the controller controls the mechanical arm to change the pose according to the position information of the target interface collected by the industrial camera and the contact force collected by the sensor, which can quickly realize the high-precision docking of the connector and the target interface, thereby improving the debugging of electronic equipment. efficiency.

In an optional implementation, the controller is also used to: determine whether the contact force is less than the deviation threshold; if the contact force is greater than or equal to the deviation threshold, calculate the pose deviation according to the contact force; adjust the mechanical arm position according to the pose deviation position to reduce the contact force. In this implementation, the controller can determine whether the connector is aligned with the target interface by comparing the contact force with the deviation threshold. Moreover, the controller can adjust the pose of the manipulator according to the pose deviation, so that the contact force is less than the deviation threshold, so as to align the connector with the target interface.

In an optional implementation, the contact force includes the components of the force between the connector and the target interface along each axis of the three-dimensional coordinate system of the sensor, and the components of the force between the connector and the target interface about each axis of the three-dimensional coordinate system of the sensor. shaft torque. In this implementation, the controller can finely adjust the pose of the robotic arm from six dimensions according to the contact force, improve the alignment accuracy between the connector and the target interface, and realize high-precision docking between the connector and the target interface.

In an optional implementation manner, the controller is also used to obtain an inertia matrix, a damping matrix and a stiffness matrix. In this implementation, since the contact force model between the position of the manipulator and the external environment can be equivalently represented by a second-order "inertia-damping-spring" system, the controller, according to the inertia matrix, damping matrix, and stiffness matrix and contact force, the pose deviation can be calculated.

In an optional implementation, the contact force and pose deviation satisfy the following formula:

Among them, F is the contact force, ΔX is the pose deviation, M is the inertia matrix, B is the damping matrix, and K is the stiffness matrix; the pose deviation includes the translation of the connector along each axis of the three-dimensional coordinate system of the sensor, and the rotation of the connector around The rotation angle of each axis on the sensor's three-dimensional coordinate system.

In an optional implementation, before judging whether the contact force is less than the deviation threshold, the controller is also used to: judge whether the contact force is less than the safety threshold; if the contact force is greater than or equal to the safety threshold, control the mechanical arm to retreat, Separate the connector from the target interface. In this implementation, the controller can judge whether there is a collision between the connector and the target interface by comparing the contact force with the safety threshold, so as to prevent the structure of the connector and the target interface from being damaged, and ensure that the connector and the target interface Security of interface contact.

In an optional implementation, the position information includes two-dimensional plane position information and depth information of the target interface in the industrial camera coordinate system; the controller is also used to: acquire the first image and depth information collected by the industrial camera, the first An image contains the target interface; matching the first image with the pre-stored second image to obtain the outline of the target interface from the first image; determining two-dimensional plane position information according to the outline, the two-dimensional plane position information including the center of the outline Point coordinates: According to the depth information and center point coordinates, the three-dimensional coordinate information of the target interface in the industrial camera coordinate system is obtained. In this implementation mode, the controller can obtain the three-dimensional coordinate information of the target interface in the industrial camera coordinate system through the industrial camera, and the controller adjusts the pose of the robotic arm according to the three-dimensional coordinate information, so that the connector contacts the target interface.

In an optional implementation manner, the controller is further configured to acquire the outline of the target interface from the first image through an edge detection algorithm.

In an optional implementation manner, the controller is further configured to calculate two-dimensional plane position information according to the first-order central moment.

Description of drawings

FIG. 1 is a schematic structural diagram of an antenna interface and a connector provided in an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a charging interface and a connector provided in an embodiment of the present application;

FIG. 3 is a structural block diagram of a wiring system provided in an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a wiring system provided by an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a connector and a sensor provided in an embodiment of the present application;

FIG. 6 is a schematic diagram of an initial position of a connector and a target interface provided by an embodiment of the present application;

FIG. 7 is a schematic diagram of a connector contacting a target interface provided by an embodiment of the present application;

FIG. 8 is a schematic diagram of a connector inserted into a target interface provided by an embodiment of the present application;

FIG. 9 is a schematic diagram of a target interface provided by an embodiment of the present application;

FIG. 10 is a flowchart of a wiring method provided in an embodiment of the present application;

Fig. 11 is a flow chart of a method for a controller to acquire the location information of a target interface collected by an industrial camera according to an embodiment of the present application.

Detailed ways

In the description of the present application, unless otherwise specified, "/" means "or", for example, A/B may mean A or B. The "and/or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and/or B, which can mean: A exists alone, A and B exist at the same time, and B exists alone These three situations. In addition, "at least one" means one or more, and "plurality" means two or more. Words such as "first" and "second" do not limit the number and order of execution, and words such as "first" and "second" do not necessarily limit the difference.

It should be noted that, in this application, words such as "exemplary" or "for example" are used as examples, illustrations or illustrations. Any embodiment or design described herein as "exemplary" or "for example" is not to be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete manner.

In order to facilitate the understanding of the technical solution of the present application, the application scenarios of the technical solution provided in the present application will be exemplarily described below in conjunction with the accompanying drawings.

Electronic equipment such as mobile phones and laptops need to be debugged before leaving the factory or during maintenance to ensure that the functions of the electronic equipment are in good condition, so that users can use the electronic equipment normally. When debugging the electronic equipment, the debugging personnel need to obtain the debugging data of the electronic equipment, and judge whether the performance of the electronic equipment is intact according to the debugging data. Usually, a debugger needs to use a debug data cable to establish a connection with the electronic device, so as to obtain the debug data of the electronic device. For different performance debugging such as antenna radio frequency conduction and battery charging of electronic equipment, debugging personnel need to connect different debugging data lines to corresponding interfaces on the electronic equipment, wherein different debugging data lines have connectors of different shapes.

For example, when performing a radio frequency conduction test on an antenna of an electronic device, a debugger needs to connect the antenna debugging data cable to the antenna interface of the electronic device. Please refer to FIG. 1 . FIG. 1 is a schematic structural diagram of an antenna interface and connector provided in the embodiment of the present application. As shown in FIG. 1 , the antenna interface 11 is located on the back of the electronic device, and the antenna interface 11 has a circular hole structure. The antenna connector 12 is located at the end of the antenna debugging data line 13. The structure of the connector 12 matches the structure of the antenna interface 11. When the connector 12 is inserted into the antenna interface 11, the outer wall of the connector 12 can be tightly connected to the inner wall of the antenna interface 11. Fit to realize the transmission of antenna debugging data.

For example, when charging and debugging an electronic device, a debugging person needs to connect a charging and debugging data cable to a charging interface of the electronic device. Please refer to FIG. 2 . FIG. 2 is a schematic structural diagram of a charging interface and connector provided in the embodiment of the present application. As shown in FIG. 2 , the charging interface 21 is located at the bottom of the electronic device, and the charging interface 21 has a rounded rectangular hole structure. The charging connector 22 is arranged at the end of the charging and debugging data line 23. The structure of the charging connector 22 matches the structure of the charging interface 21. When the charging connector 22 is inserted into the charging interface 21, the outer wall of the charging connector 22 can be connected to the charging interface. The inner wall of 21 is closely attached to realize the transmission of charging debugging data.

In actual work, when debugging the performance of electronic equipment, the debugger first needs to place the electronic device to be tested on the operating table, then select the debugging data cable corresponding to the connector according to the performance debugging requirements, and finally observe the electronic device with the naked eye Find the interface that needs to be connected for performance debugging, and manually insert the debugging data cable into the interface. This process takes a long time, resulting in low efficiency in debugging electronic equipment. In the case of performance debugging of a large number of electronic devices, if each electronic device is manually wired to different interfaces by debuggers, it will greatly reduce the debugging efficiency of the entire production line or maintenance line, and affect the delivery speed of electronic devices.

Based on this, in order to solve the problem that manual wiring takes a long time and thus leads to low debugging efficiency of electronic equipment, an embodiment of the present application provides a wiring method. This method can be implemented in the wiring system provided by this application.

The wiring system provided by the embodiment of the present application can be applied to wiring with the electronic device target interface 100 . Among them, electronic devices include but are not limited to mobile phones, tablet computers, personal computers, workstation devices, large-screen devices (such as smart screens, smart TVs, etc.), wearable devices (such as smart bracelets, smart watches) handheld game consoles, Home game consoles, virtual reality devices, augmented reality devices, mixed reality devices, etc., vehicle-mounted smart terminals, etc., are not specifically limited in this application.

The target interface 100 is an interface to be connected on the electronic device. For example, it may be an integrated circuit (inter-integrated circuit, I2C) interface, an integrated circuit built-in audio (inter-integrated circuit sound, I2S) interface, a pulse code modulation (pulse code modulation, PCM) interface, a universal asynchronous transceiver (universal asynchronous receiver/transmitter, UART) interface, mobile industry processor interface (mobile industry processor interface, MIPI), general-purpose input-output (general-purpose input/output, GPIO) interface, subscriber identity module (subscriber identity module, SIM) interface, and /or a universal serial bus (universal serial bus, USB) interface, etc., which are not specifically limited in this application.

The wiring system provided by the present application will be described in detail below with reference to the accompanying drawings.

Please refer to FIG. 3 . FIG. 3 is a structural block diagram of a wiring system provided in an embodiment of the present application. As shown in FIG. 3 , the wiring system includes a controller 110 , a robot arm 120 , an industrial camera 130 , a connector 140 and a sensor 150 , and the controller 110 is coupled with the robot arm 120 , the industrial camera 130 , the connector 140 and the sensor 150 .

Please refer to FIG. 4 . FIG. 4 is a schematic structural diagram of a wiring system provided by an embodiment of the present application. As shown in FIG. 4 , an industrial camera 130 , a connector 140 and a sensor 150 are disposed at the end of the robot arm 120 . In an optional implementation manner, an installation substrate 121 is further provided at the end of the robot arm 120 , and the industrial camera 130 and the sensor 150 are fixed on the installation substrate 121 . Optionally, the mounting base 121 is provided with a plurality of mounting threaded holes in different positions, and the industrial camera 130 and the sensor 150 can be fixed on the mounting base 121 through screw connections. This installation method is more flexible and easy to disassemble. The positions of the industrial camera 130 and the sensor 150 on the mounting substrate 121 are adjusted. Also, when the industrial camera 130 and the sensor 150 fail, it is convenient to repair and replace the industrial camera 130 and the sensor 150 .

In this embodiment, the connection head 140 is fixed on the sensor 150 so that the sensor 150 can obtain the force on the connection head 140 . FIG. 5 is a schematic structural diagram of a connector and a sensor provided in an embodiment of the present application. As shown in FIG. 5 , optionally, multiple connectors 140 may be provided on the sensor 150 , and each connector 140 corresponds to an interface of a different shape. In this way, when multiple performance tests are performed on electronic equipment and interfaces of different shapes need to be connected separately, there is no need to replace the connector 140, only need to switch to the connector 140 corresponding to the shape of the interface, and the connection with the interface of different shapes can be realized. wire, which further improves the applicability of the wiring system provided by the present application.

In this embodiment, the controller 110 is coupled with the robot arm 120 , the industrial camera 130 , the connector 140 and the sensor 150 . Specifically, the controller 110 can be wired with the mechanical arm 120, the industrial camera 130, the connector 140, and the sensor 150, or can be connected wirelessly through a wireless communication module, such as a wireless fidelity (Wi-Fi ), Bluetooth bluetooth, Bluetooth mesh network (Bluetooth mesh), etc.

The controller 110 in the embodiment of the present application is used to obtain the position information of the target interface 100 collected by the industrial camera 130; according to the position information, control the mechanical arm 120 to make the connector 140 contact the target interface 100; obtain the connector collected by the sensor 150 140 and the target interface 100; according to the contact force, adjust the posture of the mechanical arm 120 to reduce the contact force; when the contact force is less than the deviation threshold, control the mechanical arm 120 to insert the connector 140 into the target interface 100 middle.

In this embodiment, please refer to FIG. 6 , which is a schematic diagram of an initial position of a connection head and a target interface provided by an embodiment of the present application. As shown in FIG. 6 , before the wiring system performs wiring, there is a certain distance between the connector 140 and the target interface 100 . Therefore, the controller 110 first obtains the position information of the target interface 100 collected by the industrial camera 130 , performs preliminary positioning of the target interface 100 according to the position information, and controls the mechanical arm 120 to make the connector 140 contact the target interface 100 . FIG. 7 is a schematic diagram of a connector contacting a target interface provided by an embodiment of the present application. As shown in FIG. 7 , the connector 140 has been in contact with the target interface 100 , but the connector 140 is not inserted into the target interface 100 . Next, the contact force between the connector 140 and the target interface 100 collected by the sensor 150 is obtained, the target interface 100 is precisely positioned according to the contact force, and the posture of the mechanical arm 120 is adjusted to reduce the contact force. Finally, when the contact force is less than the deviation threshold, the controller 110 controls the robotic arm 120 to insert the connector 140 into the target interface 100 , so as to achieve high-precision docking between the connector 140 and the target interface 100 . FIG. 8 is a schematic diagram of a connector inserted into a target interface provided by an embodiment of the present application. As shown in FIG. 8 , the connector 140 has been correctly inserted into the target interface 100 .

It can be seen that the wiring system provided by the present application controls the mechanical arm 120 through the controller 110, and combines the industrial camera 130 and the sensor 150 to quickly realize high-precision docking between the connector 140 and the target interface 100, thereby improving the debugging efficiency of electronic equipment.

It should be noted that, in the process of the controller 110 adjusting the pose of the robotic arm 120 according to the contact force, in order to improve the accuracy of the connection between the connector 140 and the target interface 100, the controller 110 can continuously obtain the connection between the connector 140 and the target interface in real time. Contact force between 100. However, this will increase the amount of data calculated by the controller 110 and the power consumption of the wiring system. In order to reduce the energy consumption of the wiring system and improve the wiring efficiency, the controller 110 can obtain the contact force at a certain sampling frequency, or, by setting the pose change threshold, when the pose change of the mechanical arm 120 is greater than the pose change threshold, control The device 110 captures the contact force. This application does not specifically limit it.

In this embodiment, the controller 110 may include one or more processing units, for example: the controller 110 may include an application processor (application processor, AP), a modem processor, a graphics processing unit (graphics processing unit, GPU) , image signal processor (image signal processor, ISP), video codec, digital signal processor (digital signal processor, DSP), baseband processor, and/or neural network processor (neural-network processing unit, NPU) wait. Wherein, different processing units may be independent devices, or may be integrated into one or more processors, for example, integrated into a system on a chip (SoC). A memory may also be provided in the controller 110 for storing instructions and data. In some embodiments, the memory in controller 110 is a cache memory. This memory can hold instructions or data that the controller has just used or recycled.

The robotic arm 120 in the embodiment of the present application is used to adjust the position and posture according to the control instruction of the controller 110 , so that the connector 140 can be accurately inserted into the target interface 100 . Wherein, the robotic arm 120 is an automatic mechanical device capable of accepting instructions and precisely positioning to a certain point in a three-dimensional or two-dimensional space for operation. According to different structural forms, the robotic arm is divided into multi-joint robotic arm, rectangular coordinate robotic arm, spherical coordinate robotic arm, polar coordinate robotic arm, cylindrical coordinate robotic arm, etc. In this embodiment, the robotic arm 120 is preferably a multi-joint robotic arm that can move in six degrees of freedom, that is, the robotic arm 120 can move and rotate along the X-axis, Y-axis, and Z-axis of its three-dimensional coordinate system. By controlling the movement of the mechanical arm 120 in six degrees of freedom, the position and posture of the mechanical arm 120 can be adjusted, thereby changing the position of the connector 140 disposed at the end of the mechanical arm 120 , and inserting the connector 140 into the target interface 100 .

The industrial camera 130 in the embodiment of the present application is used to collect the location information of the target interface 100 . The industrial camera 130 is a camera that converts optical signals into orderly electrical signals, and has the advantages of high image stability, high transmission capacity, and high anti-interference ability. In an optional implementation manner, the industrial camera 130 is preferably a depth camera, and the position information collected by the industrial camera 130 includes two-dimensional plane position information and depth information of the target interface 100 in the coordinate system of the industrial camera 130 . Depth cameras not only have the function of taking images of objects, but also have the function of depth measurement. Through the data obtained by the depth camera, the distance from each point in the image to the camera of the depth camera can be accurately obtained, and combined with the coordinate value of the point in the two-dimensional image, the three-dimensional coordinate value of each point in the image can be obtained. Specifically, the industrial camera 130 may be a structured-light depth camera, a binocular stereo vision (binocular stereo vision) depth camera, a time of flight (TOF) depth camera, etc., which are not specifically limited in this application.

The connector 140 in the embodiment of the present application is used to connect with the target interface 100 to realize data transmission. For example, the connector 140 may be an antenna radio-frequency (radio-frequency) connector, a Micro USB connector, a USB Type C connector, a Lightning connector, and the like. It can be understood that the connection head 140 is connected with the data line to realize the transmission of debugging data. In this embodiment, the structure of the connector 140 matches the structure of the target interface 100, so that the structure of the target interface 100 will not be damaged after the connector 140 is inserted into the target interface 100, and the connector 140 can realize the function of data transmission.

The sensor 150 in the embodiment of the present application is used to collect the contact force between the connecting head 140 and the target interface 100 . Specifically, the sensor 150 is a force sensor that can convert the magnitude of force into a related electrical signal. In an optional implementation manner, the sensor 150 is preferably a six-dimensional force sensor, which is a sensor capable of simultaneously measuring forces and moments in three directions of the X-axis, Y-axis and Z-axis. In this embodiment, the contact force collected by the sensor 150 includes the components of the force between the connector 140 and the target interface 100 along each axis of the three-dimensional coordinate system of the sensor 150, and the force between the connector 140 and the target interface 100 around the sensor 150 The moment of each axis on the three-dimensional coordinate system.

In an optional implementation, the controller 110 is also used to: determine whether the contact force is less than the deviation threshold; if the contact force is greater than or equal to the deviation threshold, calculate the pose deviation according to the contact force; adjust the mechanical arm 120 according to the pose deviation pose to reduce the contact force.

In this embodiment, the controller 110 can determine whether the connector 140 is aligned with the target interface 100 by comparing the contact force with the deviation threshold, so as to realize high-precision docking between the connector 140 and the target interface 100 . Wherein, whether the connecting head 140 is aligned with the target interface 100 can be understood as whether the central axis of the connecting head 140 coincides with the central axis of the target interface 100 . If the contact force is less than the deviation threshold, it means that the connector 140 has been aligned with the target interface 100 , and the connector 140 can be inserted into the target interface 100 . If the contact force is greater than or equal to the deviation threshold, it means that the connector 140 is not aligned with the target interface 100, and there is still a deviation in position. It is necessary to calculate the pose deviation according to the contact force, adjust the pose of the robotic arm 120 according to the pose deviation, and obtain the sensor again. 150 collects the contact force between the connector 140 and the target interface 100 until the contact force is less than the deviation threshold.

It should be noted that the deviation threshold is determined according to actual application scenarios and requirements for docking accuracy. If the connector 140 is perfectly aligned with the target interface 100 , the contact force in each dimension should be close to zero. Therefore, the smaller the value of the deviation threshold, the higher the alignment accuracy of the connector 140 and the prototype interface 100 . In some embodiments, the deviation threshold of the force between the connector 140 and the target interface 100 along each axis of the three-dimensional coordinate system of the sensor 150 is preferably in the range of 1N-1.5N, between the connector 140 and the target interface 100 The preferred value range of the torque deviation threshold of each axis on the three-dimensional coordinate system of the force around the sensor 150 is: 0.01Nm-0.015Nm. When the value of the deviation threshold is within the above preferred value range, if the contact force is smaller than the deviation threshold, it can be considered that the connector 140 is approximately aligned with the target interface 100 , and the connector 140 can be docked with the target interface 100 .

In an optional implementation manner, before the controller 110 calculates the pose deviation according to the contact force, the controller 110 is further configured to acquire an inertia matrix, a damping matrix, and a stiffness matrix. In this embodiment, the position of the mechanical arm 120 and the contact force model of the external environment can be equivalently represented by a second-order "inertia-damping-spring" system. Specifically, the relationship between the position of the manipulator 120 and the contact force of the external environment is expressed from the three aspects of inertia, damping and spring through the inertia matrix, damping matrix and stiffness matrix. Therefore, when calculating the pose according to the contact force Before deviation, the inertia matrix, damping matrix and stiffness matrix must be obtained first. The three matrices of inertia matrix, damping matrix and stiffness matrix are all constant value matrices. The values of the three matrices are related to the mechanical arm 120 and the external environment, and need to be adjusted to appropriate values through experiments. This application does not limit the values of the inertia matrix, damping matrix and stiffness matrix.

In an optional implementation, the contact force and pose deviation satisfy the following formula:

Among them, F is the contact force, ΔX is the pose deviation, M is the inertia matrix, B is the damping matrix, and K is the stiffness matrix.

Specifically, the expanded expression of F is:

Wherein, Fx, Fy and Fz respectively represent the components of the force between the connector 140 and the target interface 100 along the X-axis, Y-axis and Z-axis of the three-dimensional coordinate system of the sensor 150, and Tx, Ty and Tz respectively represent the components of the connector 140 and the target interface. The force between 100 is the moment about the X-axis, Y-axis and Z-axis of the three-dimensional coordinate system of the sensor 150 .

The expanded expression of ΔX is:

Among them, Δx, Δy and Δz respectively represent the translation of the connector 140 along the X-axis, Y-axis and Z-axis on the three-dimensional coordinate system of the sensor 150, and Δα, Δβ and Δγ respectively represent the translation of the connector 140 around the X-axis on the three-dimensional coordinate system of the sensor 150 , the rotation angle of the Y axis and the Z axis.

In this embodiment, in the process of calculating the pose deviation according to the contact force, the above formula ① is discretized, and the pose deviation can be obtained through numerical iterative solution. The expression of the specific iterative process is as follows:

Among them, λ is the iteration cycle, and n is the number of iterations this time.

It should be noted that the contact force collected by the sensor 150 is in the three-dimensional coordinate system of the sensor 150. In order for the controller 110 to accurately adjust the pose of the mechanical arm 120 according to the pose deviation, it is necessary to convert the pose deviation into In the coordinate system of the arm pose, for example, in the base coordinate system or the world coordinate system of the robotic arm 120 . Specifically, the contact force can be converted from the three-dimensional coordinate system of the sensor 150 to the coordinate system used to control the pose of the manipulator, and then the pose deviation is calculated according to the contact force. In the coordinate system of the arm pose. Or, first calculate the pose deviation according to the contact force, at this time, the pose deviation is in the three-dimensional coordinate system of the sensor 150, and then convert the pose deviation from the three-dimensional coordinate system of the sensor 150 to the coordinate system used to control the pose of the manipulator Down.

In an optional implementation, before judging whether the contact force is less than the deviation threshold, the controller 110 is also used to: judge whether the contact force is less than the safety threshold; if the contact force is greater than or equal to the safety threshold, control the mechanical arm 120 back to Step back to separate the connector 140 from the target interface 100.

In this embodiment, before the controller 110 adjusts the pose of the robotic arm 120 according to the contact force, the controller 110 first judges whether the contact force is less than a safety threshold to prevent the connection head 140 from colliding with the target interface 100 and causing structural damage Case. Specifically, if the contact force is greater than or equal to the safety threshold, it indicates that the contact force between the connector 140 and the target interface 100 is relatively large, and there may be a collision between the connector 140 and the target interface 100, and the controller 110 needs to control the mechanical The arm 120 retreats to separate the connecting head 140 from the target interface 100 , preventing damage to the structure of the connecting head 140 or the target interface 100 . If the contact force is less than the safety threshold, it means that the contact force between the connector 140 and the target interface 100 is within the safe range. The controller 110 can further fine-tune the pose of the mechanical arm 120 by judging whether the contact force is less than the deviation threshold. Connector 14 is aligned with target interface 100 .

It should be noted that the security threshold is determined according to actual requirements. In order to ensure the safety of the contact between the connecting head 140 and the target interface 100, the value of the safety threshold should be greater than the deviation threshold. In some embodiments, the preferred safety threshold of the component of the force between the connector 140 and the target interface 100 along each axis on the three-dimensional coordinate system of the sensor 150 is: 10N-15N, between the connector 140 and the target interface 100 The preferred value range of the safety threshold of the torque of each axis on the three-dimensional coordinate system of the force-circling sensor 150 is: 0.1Nm-0.15Nm. When the value of the safety threshold is within the above preferred value range, if the contact force is smaller than the safety threshold, it can be considered that the contact force between the connector 140 and the target interface 100 is safe.

In an optional implementation manner, the position information includes two-dimensional plane position information and depth information of the target interface 100 in the coordinate system of the industrial camera 130 . The controller 110 is also used to: obtain the first image and depth information collected by the industrial camera 130, the first image includes the target interface 100; match the first image with the pre-stored second image to obtain the target from the first image The outline of the interface 100; determine the two-dimensional plane position information according to the outline, and the two-dimensional plane position information includes the center point coordinates of the outline; obtain the three-dimensional coordinate information of the target interface 100 in the industrial camera 130 coordinate system according to the depth information and the center point coordinates.

In this embodiment, please refer to FIG. 9 , which is a schematic diagram of a target interface 100 provided in an embodiment of the present application. As shown in FIG. 9 , multiple interfaces are provided on the electronic device, but the connector 140 is only connected to the target interface 100 among them. The industrial camera 130 first collects the overall external structure of the electronic device, and the first image collected by the industrial camera 130 not only includes the image of the target interface 100, but may also include images of other interfaces on the electronic device. Therefore, it is first necessary to find the target interface 100 in the first image. The second image is a pre-stored image of the target interface 100. By matching the first image with the second image, the target interface 100 can be accurately found, and the outline of the target interface 100 can be extracted to determine the two-dimensional shape of the target interface 100. The plane position information, wherein the two-dimensional plane position information of the target interface 100 is represented by the coordinates of the center point of the outline.

In some embodiments, before the wiring system connects the target interface 100, multiple second images may be stored in advance, and each second image corresponds to a different image of the target interface 100. It should be noted that, at this time, the wiring system also A plurality of connectors 140 corresponding to the target interface 100 are included. According to the first image captured by the industrial camera 130 , the target interface 100 corresponding to the second image can be matched sequentially, and the connector 140 corresponding to the target interface 100 can be selected for connection. In this way, not only the adaptability of the wiring system provided by the embodiment of the present application can be increased, but also the wiring efficiency can be further improved.

In an optional implementation manner, the controller 110 is further configured to acquire the outline of the target interface 100 from the first image through an edge detection algorithm. The edge detection algorithm is an algorithm that can extract the edges in the image by identifying the points with obvious brightness changes in the digital image. Therefore, the controller 110 can effectively extract the outline of the target interface 100 from the first image through the edge detection algorithm. Specifically, the edge detection algorithm includes: a Sobel operator detection algorithm, a Laplacian operator detection algorithm, a Canny operator detection algorithm, and the like. This application does not specifically limit the specific algorithm adopted by the edge detection.

In an optional implementation manner, the controller 110 is further configured to calculate two-dimensional plane position information according to the first-order central moment. In this embodiment, since the space moment of the two-dimensional image is essentially the area, the coordinates of the central point of a contour figure in the two-dimensional image can be calculated through the first-order moment. The controller 110 determines the two-dimensional plane position information by calculating the first-order central moment according to the contour, that is, obtains the coordinates of the central point of the contour. The coordinates of the center point of the contour are used for preliminary positioning of the target interface 100 , and the controller 110 controls the robot arm 120 to make the connecting head 140 contact with the target interface 100 according to the coordinates of the center point of the contour.

The embodiment of the present application also provides a wiring method, which can be applied to any wiring system provided in the embodiment of the present application. Please refer to FIG. 10 . FIG. 10 is a flowchart of a wiring method provided by an embodiment of the present application. As shown in Figure 10, the method includes step S101-step S108:

Step S101 : the controller 110 obtains the position information of the target interface 100 collected by the industrial camera 130 .

In a specific implementation, the industrial camera 130 is used to collect the position information of the target interface 100 , and the controller 110 acquires the position information to adjust the position of the robot arm 120 so that the connecting head 140 contacts the target interface 100 .

In an optional implementation manner, the industrial camera 130 is preferably a depth camera, and the position information includes two-dimensional plane position information and depth information of the target interface 100 in the coordinate system of the industrial camera 130 . Please refer to FIG. 11 . FIG. 11 is a flow chart of a method for a controller to acquire target interface position information collected by an industrial camera provided in an embodiment of the present application. As shown in Figure 11, step S101 specifically includes the following steps:

Step S201 : the controller 110 acquires a first image and depth information collected by the industrial camera 130 , the first image includes the target interface 100 . In this embodiment, the position information of the target interface 100 is three-dimensional coordinate information. Specifically, according to the first image, the two-dimensional plane position information of the target interface 100 in the industrial camera coordinate system and the depth information collected by the industrial camera 130 can be obtained. combined to form the location information of the target interface 100 . Wherein, the depth information collected by the industrial camera 130 is the distance from the target interface 100 to the industrial camera 130 .

Step S202: The controller 110 matches the first image with the pre-stored second image, so as to obtain the outline of the target interface 100 from the first image.

The first image not only includes the image of the target interface 100 but may also include other interface images on the electronic device. Therefore, the first image needs to be matched with the pre-stored second image to obtain the outline of the target interface 100 . Wherein, the second image is a pre-stored image of the target interface 100 . In some embodiments, a plurality of second images can be stored in advance, and each second image corresponds to a different image of the target interface 100. In this way, a plurality of different target interfaces 100 can be connected respectively, which can not only increase the The applicability of the wiring method, and can further improve the wiring efficiency.

In an optional implementation manner, the controller 110 acquires the outline of the target interface 100 from the first image through an edge detection algorithm.

In a specific implementation, the edge detection algorithm is an algorithm that can extract edges in an image by identifying points with obvious brightness changes in the digital image. Therefore, the controller 110 can effectively extract the outline of the target interface 100 from the first image through the edge detection algorithm. Specifically, the edge detection algorithm includes: a Sobel operator detection algorithm, a Laplacian operator detection algorithm, a Canny operator detection algorithm, and the like. This application does not specifically limit the specific algorithm adopted by the edge detection.

Step S203: The controller 110 determines two-dimensional plane position information according to the contour, and the two-dimensional plane position information includes the center point coordinates of the contour. In this embodiment, the two-dimensional plane position information of the target interface 100 is represented by the coordinates of the central point of the outline.

In an optional implementation manner, the controller 110 calculates the two-dimensional plane position information according to the first-order central moment.

In a specific implementation, since the essence of the space moment of the two-dimensional image is the area, the coordinates of the center point of a certain contour figure in the two-dimensional image can be calculated through the first-order moment. The controller 110 determines the two-dimensional plane position information by calculating the first-order central moment according to the contour, that is, obtains the coordinates of the central point of the contour. The coordinates of the central point of the outline and the depth information are used for preliminary positioning of the target interface 100 .

Step S204: The controller 110 obtains the three-dimensional coordinate information of the target interface 100 in the coordinate system of the industrial camera 130 according to the depth information and the center point coordinates. Step S102: The controller 110 controls the robot arm 120 according to the position information, so that the connecting head 140 contacts the target interface 100 .

In the specific implementation, the controller 110 adjusts the position by controlling the mechanical arm 120 according to the position information, so that the connector 140 and the target interface 100 are initially positioned, so that the connector 140 is in contact with the target interface 100, so that the controller 110 can adjust the position of the target interface 100. Accurate positioning is performed to realize high-precision docking between the connecting head 140 and the target interface 100 .

Step S103: The controller 110 obtains the contact force between the connector 140 and the target interface 100 collected by the sensor 150 .

In a specific implementation, after the connection head 140 contacts the target interface 100 , a contact force will be generated between the connection head 140 and the target interface 100 , and the contact force can be collected by the sensor 150 .

In an optional implementation, the sensor 150 is preferably a six-dimensional force sensor, and the contact force collected by the sensor 150 includes the components of the force between the connector 140 and the target interface 100 along each axis of the three-dimensional coordinate system of the sensor 150, and The torque between the force between the connector 140 and the target interface 100 around each axis of the three-dimensional coordinate system of the sensor 150 .

Step S104: The controller 110 judges whether the contact force is less than a safety threshold.

In a specific implementation, by setting a safety threshold, the controller 110 can judge whether the contact force is too large and exceeds the safety range according to the safety threshold. In this way, it is possible to prevent the connection head 140 from colliding with the target interface 100 , resulting in damage to the structure of the connection head 140 and the target interface 100 due to excessive contact force.

It should be noted that the security threshold is determined according to actual requirements. In order to ensure the safety of the contact between the connecting head 140 and the target interface 100, the value of the safety threshold should be greater than the deviation threshold. In some embodiments, the preferred safety threshold of the component of the force between the connector 140 and the target interface 100 along each axis on the three-dimensional coordinate system of the sensor 150 is: 10N-15N, between the connector 140 and the target interface 100 The preferred value range of the safety threshold of the torque of each axis on the three-dimensional coordinate system of the force-circling sensor 150 is: 0.1Nm-0.15Nm. When the value of the safety threshold is within the above preferred value range, if the contact force is smaller than the safety threshold, it can be considered that the contact force between the connector 140 and the target interface 100 is safe.

Step S105: If the contact force is greater than or equal to the safety threshold, the controller 110 controls the mechanical arm 120 to retreat, so that the connecting head 140 is separated from the target interface 100 .

In a specific implementation, if the contact force is greater than or equal to the safety threshold, it means that the contact force between the connector 140 and the target interface 100 is relatively large, and there may be a collision between the connector 140 and the target interface 100, and the controller 110 needs to control it in time. The mechanical arm 120 retreats to separate the connecting head 140 from the target interface 100 to prevent damage to the structure of the connecting head 140 or the target interface 100 . After the mechanical arm 120 retreats, the controller 110 obtains the position information of the target interface 100 collected by the industrial camera 130 again, and controls the mechanical arm 120 again according to the position information, so that the connector 140 contacts the target interface 100 .

Step S106: If the contact force is less than the safety threshold, the controller 110 determines whether the contact force is less than the deviation threshold.

In a specific implementation, if the contact force is less than the safety threshold, it means that the contact force between the connecting head 140 and the target interface 100 is within a safe range. The controller 110 can further fine-tune the pose of the robotic arm 120 by judging whether the contact force is smaller than the deviation threshold, and align the connecting head 14 with the target interface 100 . Specifically, it can be judged whether the connection head 140 is aligned with the target interface 100 by comparing the contact force with the deviation threshold, so as to realize high-precision docking between the connection head 140 and the target interface 100 . Whether the connecting head 140 is aligned with the target interface 100 can be understood as whether the central axis of the connecting head 140 coincides with the central axis of the target interface 100 .

It should be noted that the deviation threshold is determined according to actual application scenarios and requirements for docking accuracy. If the connector 140 is perfectly aligned with the prototype interface 100 , the contact force in each dimension should be close to zero. Therefore, the smaller the deviation threshold is, the higher the alignment accuracy of the connector 140 and the prototype interface 100 will be. In some embodiments, the deviation threshold of the force between the connector 140 and the target interface 100 along each axis of the three-dimensional coordinate system of the sensor 150 is preferably in the range of 1N-1.5N, between the connector 140 and the target interface 100 The preferred value range of the torque deviation threshold of each axis on the three-dimensional coordinate system of the force around the sensor 150 is: 0.01Nm-0.015Nm. When the value of the deviation threshold is within the above preferred value range, if the contact force is smaller than the deviation threshold, it can be considered that the connector 140 is approximately aligned with the target interface 100 , and the connector 140 can be docked with the target interface 100 .

Step S107: If the contact force is greater than or equal to the deviation threshold, the controller 110 adjusts the pose of the robotic arm 120 according to the contact force to reduce the contact force.

In the specific implementation, if the contact force is greater than or equal to the deviation threshold, it means that the connector 140 is not completely aligned with the target interface 100, and there is still a deviation in the position. It is necessary to adjust the posture of the mechanical arm 120 again according to the contact force to realize the connection between the connector 140 and the target. Precise positioning of the interface 100 . In step S107, the controller 110 adjusts the pose of the robotic arm 120 according to the contact force, including the following steps:

Step S301: The controller 110 calculates the pose deviation according to the contact force.

In an optional implementation manner, the controller 110 first obtains the inertia matrix, damping matrix and stiffness matrix.

In a specific implementation, the position of the mechanical arm 120 and the contact force model of the external environment can be equivalently represented by a second-order "inertia-damping-spring" system. Specifically, the relationship between the position of the manipulator 120 and the contact force of the external environment is expressed from the three aspects of inertia, damping and spring through the inertia matrix, damping matrix and stiffness matrix. Therefore, when calculating the pose according to the contact force Before deviation, the inertia matrix, damping matrix and stiffness matrix must be obtained first. The three matrices of inertia matrix, damping matrix and stiffness matrix are all constant value matrices. The values of the three matrices are related to the mechanical arm 120 and the external environment, and need to be adjusted to appropriate values through experiments. This application does not limit the values of the inertia matrix, damping matrix and stiffness matrix.

In an optional implementation, the contact force and pose deviation satisfy the following formula:

Among them, F is the contact force, ΔX is the pose deviation, M is the inertia matrix, B is the damping matrix, and K is the stiffness matrix; the pose deviation includes the translation of the connector along each axis of the three-dimensional coordinate system of the sensor, and the rotation of the connector around The rotation angle of each axis on the sensor's three-dimensional coordinate system.

In this embodiment, in the process of calculating the pose deviation according to the contact force, the above formula ① is discretized, and the pose deviation is obtained through numerical iteration. The expression of the specific iterative process is as follows:

Among them, λ is the iteration cycle, and n is the number of iterations this time.

It should be noted that the contact force collected by the sensor 150 is in the three-dimensional coordinate system of the sensor 150. In order for the controller 110 to accurately adjust the pose of the mechanical arm 120 according to the pose deviation, it is necessary to convert the pose deviation into In the coordinate system of the arm pose, for example, in the base coordinate system or the world coordinate system of the robotic arm 120 . Specifically, the contact force can be converted from the three-dimensional coordinate system of the sensor 150 to the coordinate system used to control the pose of the manipulator, and then the pose deviation is calculated according to the contact force. In the coordinate system of the arm pose. Or, first calculate the pose deviation according to the contact force, at this time, the pose deviation is in the three-dimensional coordinate system of the sensor 150, and then convert the pose deviation from the three-dimensional coordinate system of the sensor 150 to the coordinate system used to control the pose of the manipulator Down.

Step S302: The controller 110 adjusts the pose of the robotic arm 120 according to the pose deviation to reduce the contact force.

In a specific implementation, after adjusting the pose of the robotic arm 120 according to the pose deviation, the contact force between the connector 140 and the target interface 100 collected by the sensor 150 is acquired again until the contact force is less than the deviation threshold.

It should be noted that, in the process of the controller 110 adjusting the pose of the robotic arm 120 according to the contact force, in order to improve the accuracy of the connection between the connector 140 and the target interface 100, the controller 110 can continuously obtain the connection between the connector 140 and the target interface in real time. Contact force between 100. However, this will increase the amount of data calculated by the controller 110 and the power consumption of the wiring system. In order to reduce the energy consumption of the wiring system and improve the wiring efficiency, the controller 110 can obtain the contact force at a certain sampling frequency, or, by setting the pose change threshold, when the pose change of the mechanical arm 120 is greater than the pose change threshold, control The device 110 captures the contact force. This application does not specifically limit it.

Step S108: If the contact force is less than the deviation threshold, the controller 110 controls the mechanical arm 120 to insert the connector 140 into the target interface 100 .

In a specific implementation, if the contact force is less than the deviation threshold, it means that the connector 140 has been aligned with the target interface 100 , and the controller 110 can control the mechanical arm 120 to insert the connector 140 into the target interface 100 .

In the wiring method provided in the embodiment of the present application, the controller 110 first obtains the position information of the target interface 100 collected by the industrial camera 130, performs preliminary positioning on the target interface 100 according to the position information, and controls the mechanical arm 120 to make the connector 140 and the target interface 100 contacts. Then, the controller 110 acquires the contact force between the connector 140 and the target interface 100 collected by the sensor 150 , accurately positions the target interface 100 according to the contact force, and adjusts the pose of the robotic arm 120 to reduce the contact force. Finally, when the contact force is less than the deviation threshold, the controller 110 controls the robotic arm 120 to insert the connector 140 into the target interface 100 , so as to achieve high-precision docking between the connector 140 and the target interface 100 . It can be seen that in the technical solution provided by the present application, the robot arm 120 is controlled by the controller 110, combined with the industrial camera 130 and the sensor 150, the high-precision docking between the connector 140 and the target interface 100 can be quickly realized, thereby improving the debugging efficiency of electronic equipment.

The embodiment of the present application also provides a computer storage medium, in which computer instructions are stored, and when the computer is run on the computer, the computer is made to execute the above methods.

The embodiment of the present application also provides a computer program product including instructions, which, when running on a computer, causes the computer to execute the methods in the above aspects.

The present application also provides a chip system. The system-on-a-chip includes a processor, configured to support the above-mentioned device or device to implement the functions involved in the above-mentioned aspect, for example, generate or process the information involved in the above-mentioned method. In a possible design, the chip system further includes a memory for storing necessary program instructions and data of the above-mentioned modules or devices. The system-on-a-chip may consist of chips, or may include chips and other discrete devices.

The above specific implementation manners have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific implementation modes of the present invention, and are not used to limit the protection scope of the present invention. On the basis of the technical solution of the present invention, any modification, equivalent replacement, improvement, etc. should be included in the protection scope of the present invention.

The embodiments of the present application described above are not intended to limit the scope of protection of the present application.

Claims (14)

1. A wiring method characterized by being applied to a wiring system, the wiring system comprising a controller, a mechanical arm, an industrial camera, a sensor and a plurality of connectors, each of the connectors corresponding to interfaces of different shapes, the industrial camera, the plurality of connectors and the sensor being disposed at the end of the mechanical arm, the sensor being located between the mechanical arm and the plurality of connectors, the controller being coupled to the mechanical arm, the industrial camera, the plurality of connectors and the sensor;

the method comprises the following steps:

the controller acquires the position information of a target interface acquired by the industrial camera;

the controller controls the mechanical arm according to the position information to enable a target connector to be in contact with the target interface, wherein the target connector is a connector corresponding to the target interface in the connectors;

the controller acquires the contact force between the target connector and the target interface at a preset sampling frequency, or acquires the contact force between the target connector and the target interface when the pose change of the mechanical arm is greater than a pose change threshold; wherein the contact force is collected by the sensor;

The controller judges whether the contact force is smaller than a safety threshold value;

if the contact force is greater than or equal to the safety threshold, the controller controls the mechanical arm to retract so as to separate the target connector from the target interface;

if the contact force is less than the safety threshold, the controller judges whether the contact force is less than a deviation threshold;

if the contact force is greater than or equal to the deviation threshold, the controller calculates pose deviation according to the contact force;

the controller adjusts the pose of the mechanical arm according to the pose deviation so as to reduce the contact force;

when the contact force is smaller than a deviation threshold value, the controller controls the mechanical arm to enable the target connector to be inserted into the target interface;

after the target connector is inserted into the target interface, the target connector is used for realizing transmission of debugging data.

2. The method of claim 1, wherein the contact force comprises a component of a force between the target connector and the target interface along axes on the sensor three-dimensional coordinate system, and a moment of the force between the target connector and the target interface about axes on the sensor three-dimensional coordinate system.

3. The method of claim 1, wherein the controller further comprises, prior to calculating the pose bias from the contact force: the controller obtains an inertia matrix, a damping matrix and a stiffness matrix.

4. A method according to any one of claims 1-3, characterized in that the contact force and the pose deviation satisfy the following formula:

；

wherein,,Fdelta as contact forceXFor the deviation of the pose,Mis a matrix of inertia which is a matrix of inertia,Bin order to provide a damping matrix,Kis a rigidity matrix; the pose deviation comprises translation amounts of the target connector along all axes on the three-dimensional coordinate system of the sensor and rotation angles of the target connector around all axes on the three-dimensional coordinate system of the sensor.

5. The method of claim 1, wherein the location information comprises two-dimensional planar location information and depth information of the target interface in the industrial camera coordinate system;

the controller obtains the position information of the target interface acquired by the industrial camera, and the method comprises the following steps:

the controller acquires a first image acquired by the industrial camera and the depth information, wherein the first image comprises the target interface;

the controller matches the first image with a pre-stored second image to acquire the outline of the target interface from the first image;

The controller determines the two-dimensional plane position information according to the outline, wherein the two-dimensional plane position information comprises the center point coordinates of the outline;

and the controller obtains three-dimensional coordinate information of the target interface in the industrial camera coordinate system according to the depth information and the center point coordinate.

6. The method of claim 5, wherein the controller matching the first image with a pre-stored second image to obtain the outline of the target interface from the first image comprises:

the controller acquires the outline of the target interface from the first image through an edge detection algorithm.

7. The method of claim 5 or 6, wherein the controller determining the two-dimensional plane position information from the profile comprises: the controller calculates the two-dimensional plane position information according to the first-order central moment.

8. A wiring system comprising a controller, a robotic arm, an industrial camera, a sensor, and a plurality of connectors, each of the connectors corresponding to a different shape of interface, the industrial camera, the plurality of connectors, and the sensor disposed at an end of the robotic arm, the sensor located between the robotic arm and the plurality of connectors, the controller coupled to the robotic arm, the industrial camera, the plurality of connectors, and the sensor; wherein,,

The industrial camera is used for collecting the position information of the target interface;

the controller is used for acquiring the position information, controlling the mechanical arm according to the position information, and enabling a target connector to be in contact with the target interface, wherein the target connector is a connector corresponding to the target interface in the connectors;

the sensor is used for collecting the contact force between the target connector and the target interface;

the controller is further used for acquiring the contact force at a preset sampling frequency; or when the pose change of the mechanical arm is larger than a pose change threshold value, acquiring the contact force;

the controller is further used for judging whether the contact force is smaller than a safety threshold value;

if the contact force is greater than or equal to the safety threshold, controlling the mechanical arm to retract so as to separate the target connector from the target interface;

the controller is further configured to determine whether the contact force is less than a deviation threshold if the contact force is less than the safety threshold;

if the contact force is greater than or equal to the deviation threshold, calculating pose deviation according to the contact force;

adjusting the pose of the mechanical arm according to the pose deviation so as to reduce the contact force;

The controller is further configured to control the mechanical arm to insert the target connector into the target interface when the contact force is less than a deviation threshold;

after the target connector is inserted into the target interface, the target connector is used for realizing transmission of debugging data.

9. The system of claim 8, wherein the contact force comprises a component of a force between the target connector and the target interface along axes on the sensor three-dimensional coordinate system, and a moment of the force between the target connector and the target interface about axes on the sensor three-dimensional coordinate system.

10. The system of claim 8, wherein the controller is further configured to obtain an inertia matrix, a damping matrix, and a stiffness matrix.

11. The system of any one of claims 8-10, wherein the contact force and the pose bias satisfy the following formulas:

；

wherein,,Fdelta as contact forceXFor the deviation of the pose,Mis a matrix of inertia which is a matrix of inertia,Bin order to provide a damping matrix,Kis a rigidity matrix;

the pose deviation comprises translation amounts of the target connector along all axes on the three-dimensional coordinate system of the sensor and rotation angles of the target connector around all axes on the three-dimensional coordinate system of the sensor.

12. The system of claim 8, wherein the location information comprises two-dimensional planar location information and depth information of the target interface in the industrial camera coordinate system; the controller is further configured to:

acquiring a first image acquired by the industrial camera and the depth information, wherein the first image comprises the target interface;

matching the first image with a pre-stored second image to acquire the outline of the target interface from the first image;

determining the two-dimensional plane position information according to the contour, wherein the two-dimensional plane position information comprises the center point coordinates of the contour;

and obtaining three-dimensional coordinate information of the target interface in the industrial camera coordinate system according to the depth information and the center point coordinate.

13. The system of claim 12, wherein the controller is further configured to obtain the contour of the target interface from the first image via an edge detection algorithm.

14. The system of claim 12 or 13, wherein the controller is further configured to calculate the two-dimensional planar location information based on a first order central moment.

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