KR20220125885A - Drawing generation method and drawing generation device used in harness drawing work - Google Patents

Abstract

A drawing creation method for a robot-based harness drawing plate operation is disclosed. The drawing generating method may include defining a plurality of modules for the harness drawing process; realizing the module as a node representing a point requiring positioning; generating attribute values for the module and the node; and generating a robot-based harness drawing plate-only drawing based on the node and the attribute value.

Description

Drawing generation method and drawing generation device used for harness drawing work

The present invention relates to a drawing generating method and a drawing generating apparatus for harness drawing work, and more particularly, to a drawing generating method and drawing generating apparatus for robot automation.

The wiring harness is a bundle of wires that interconnects various devices in the system, such as various IOs and controllers including motors, sensors, and lamps.

1 shows various products to which the wiring harness is applied, and as shown, the wiring harness is included in various home appliances such as washing machines, refrigerators, and dishwashers, automobiles, motorcycles, construction machines, and other automation devices. one of the main parts.

For this wiring harness work, it is necessary to make a sub-cable with hundreds of pins and connectors connected to it depending on the type, and to arrange the sub-cable according to a specific drawing for actual casing and shipment.

FIG. 2 shows that a person manually performs a wiring harness operation with reference to a cable arrangement drawing according to the related art.

As shown, arranging and designing cables on the board according to the drawings is performed by a human. Although the wiring drawings for manual use created by commercial CAD programs are used for the plating work, there is a limitation in that they are only for reference in the actual plating work.

In addition, a large number of manpower is required for the plating operation, and the skill of the operator becomes an absolute factor in quality.

Therefore, recently, robot automation has been attempted in the plate work for such a wiring harness. However, until now, only drawings for manual use created by CAD programs, etc. exist, and there is no existing technology for creating drawings dedicated to robot automation.

In other words, since the wiring harness drawing for manual use cannot be linked with robot automation for the purpose of precise transfer, gripping, assembly, etc., the development of a dedicated standard drawing technique for robot-based drawing work is required. .

Korea Patent Publication No. 10-2003-0073391 (2003.09.19)

SUMMARY OF THE INVENTION An object of the present invention is to provide a method and apparatus for generating a drawing that can be applied when a robot performs a wiring harness drawing plate operation.

SUMMARY OF THE INVENTION An object of the present invention is to provide a drawing generating method and a drawing generating apparatus capable of analyzing the work characteristics of a wiring harness for a robot automation-based wiring harness drawing plate operation.

SUMMARY OF THE INVENTION An object of the present invention is to provide a drawing generating method and a drawing generating apparatus capable of generating detailed data on a module required for wiring harness work.

According to an embodiment of the present invention, there is provided a drawing generating method for a robot-based harness drawing plate operation. The drawing generating method may include defining a plurality of modules for the harness drawing process; realizing the module as a node representing a point requiring positioning; generating attribute values for the module and the node; and generating a robot-based harness drawing plate-only drawing based on the node and the attribute value.

The module may include a board module, a cable module, a tape module, and a tie module.

The board module may include a pin node for a pin installed on the board for passing individual wires included in the cable.

The attribute value for the pin node may include pin ID, pin type, location coordinates, and related unit wire information.

The cable module may include a terminal node indicating a terminal of the wire, the pin node through which the wire passes, a branch node to which the wire is branched, and a unit wire indicating a single wire starting at a predetermined terminal and ending at another terminal. have.

The attribute value for the cable module may be a cable ID.

The attribute value for the terminal node may include terminal ID, terminal type, location coordinates, and related unit wire information.

The attribute value for the branch node may include branch ID, location coordinates, and related unit wire information.

The attribute value for the unit wire may include wire ID, color, length, and node information through which the single wire wire passes.

The attribute value of the tape module may include tape ID, color, length, and node information on which a tape operation is performed.

The attribute value of the tie module may include a tie ID, a color, and node information on which a tie operation is performed.

The node may have a different shape or color depending on the included module.

Each of the single wire wire and the tape module may have a different thickness or color.

Further, according to another embodiment of the present invention, a drawing generating apparatus for a robot-based harness drawing plate operation is provided. The drawing generating apparatus includes: a module deriving unit for deriving a plurality of modules for a harness drawing work by analyzing a drawing image generated by hand; a node generating unit that materializes the module as a node indicating a point requiring positioning; an attribute value generator for generating attribute values for the module and the node based on the drawing image; and a drawing generating unit that generates a drawing dedicated to a robot-based harness drawing plate based on the node and the attribute value.

According to an embodiment of the present invention, a method and an apparatus for generating a drawing applicable when a robot performs a wiring harness drawing plate operation may be provided.

According to an embodiment of the present invention, a drawing generating method and a drawing generating apparatus capable of analyzing the work characteristics of a wiring harness for a wiring harness drawing plate operation based on robot automation may be provided.

According to an embodiment of the present invention, a drawing generating method and a drawing generating apparatus capable of generating detailed data on a module required for wiring harness drawing board work may be provided.

Through this, it is possible to automate the manual harness plating operation, and to generate a harness that guarantees a constant quality.

1 is a view showing various products to which a wiring harness is applied.
FIG. 2 is a diagram illustrating a manual wiring harness operation performed by a human with reference to a cable arrangement drawing according to the related art.
3 is a diagram illustrating configuration modules and attribute values of a harness, which is a finished ceramic plate, according to an example of the present invention.
4A is a diagram illustrating a node for a board according to an example of the present invention, and FIG. 4B is a diagram illustrating pins installed on the board.
5A is a diagram illustrating a node for a cable according to an example of the present invention, and FIGS. 5B, 5C, 5D, 5E, 5F, and 5G show a node for a cable displayed on the drawing .
6A is a diagram illustrating a node for a tie according to an example of the present invention, and FIG. 6B is a diagram illustrating a node for a tie.
7A is a diagram illustrating a node for a tape according to an example of the present invention, and FIG. 7B is a diagram illustrating a node for a tape.
8A is a diagram illustrating a UI for displaying a node according to an example of the present invention, and FIG. 8B is a diagram illustrating graphic control of a node.
9A is a diagram illustrating a UI for displaying a line according to an example of the present invention, and FIG. 9B is a diagram illustrating graphic control of a line.
10 is a control flowchart illustrating a drawing generating method according to an embodiment of the present invention.
11 is a control block diagram of a drawing generating apparatus according to an embodiment of the present invention.
12 is a diagram illustrating a computing device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art to which the present invention pertains can easily implement them. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

In this specification, duplicate descriptions of the same components will be omitted.

Also, in this specification, when a component is referred to as 'connected' or 'connected' to another component, it may be directly connected or connected to the other component, but other components in the middle It should be understood that there may be On the other hand, in the present specification, when it is mentioned that a certain element is 'directly connected' or 'directly connected' to another element, it should be understood that the other element does not exist in the middle.

In addition, the terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention.

Also in this specification, the singular expression may include the plural expression unless the context clearly dictates otherwise.

Also, in this specification, terms such as 'include' or 'have' are only intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist, and one or more It should be understood that the existence or addition of other features, numbers, steps, acts, components, parts, or combinations thereof, is not precluded in advance.

Also in this specification, the term 'and/or' includes a combination of a plurality of listed items or any of a plurality of listed items. In this specification, 'A or B' may include 'A', 'B', or 'both A and B'.

Also, in this specification, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted.

3 is a diagram illustrating configuration modules and attribute values of a harness, which is a finished ceramic plate, according to an example of the present invention.

As described above, up to now, the work for the plate for the wiring harness was performed by a worker, that is, a person, and the person directly arranged the cables on the board with reference to the drawings for the work for the plate work. However, when the painting operation itself is performed by a robot rather than a human, a completely new drawing is required because the robot cannot recognize the previously used drawing. In other words, a drawing that can be used in a robot automation environment rather than a human is required.

The present invention is to generate such a drawing dedicated for robot work, and for this purpose, it is necessary to interpret and structure the existing drawing in a language that the robot can recognize, that is, instruct the robot.

The modules 100 to 500 and the nodes of FIG. 3 newly analyze the structure and shape of the existing drawing and structure the data to be suitable for robot automation.

As shown, the completed ceramic plate, a harness, may be defined by a plurality of modules 100 to 500 , and each module 100 to 500 may be embodied as a detailed node. The harness may include a board module 100 , a cable module 200 , a tie module 300 , and a tape module 400 , and may additionally include a work node module 500 .

A node according to this embodiment represents all the one-dimensional points that need to be positioned for the modules 100 to 500, which are parameters for generating a command for a plate operation to the robot or generating a plate for a plate to be applied to the robot. It can be used as a variable.

In addition, each of the modules 100 to 500 and specifically defined nodes may have attribute values indicating corresponding characteristics. The attribute value may include an ID for identifying the plurality of modules 100 to 500 from other modules, and may include an ID, form, location coordinates, etc. that can identify individual nodes and designate a location. That is, the attribute value means information on characteristics of each node and module 100 to 500 so as to specify a cable positioned on the harness plate.

Hereinafter, detailed modules 100 to 500 will be described with reference to FIGS. 4A to 6B .

4A is a diagram illustrating a node for a board according to an example of the present invention, and FIG. 4B is a diagram illustrating a board module according to an example.

As shown on the left side of FIG. 4A , a board, which is a basic frame for arranging and designing wires and cables, is required for the harness plate operation. The board is separated from the cable after harnessing.

In these boards, pins are installed at the optimal location considering the characteristics of a specific wiring harness. That is, before the cables are arranged on the board, the positions of pins for passing through individual wires included in the cables are set on the board, and these pins can be nodes for the board module 100 and pin nodes. have.

As shown in Fig. 4a, in order to identify a pin node included in the board module 100, pin ID (Pin ID), pin type (Type), location coordinates (x, y), and related unit wire information (Associated Unit Wire Pointer) ) can be defined and specified as attribute values. The related unit wire information may include information on a single wire wire related to a corresponding pin node.

4B is a diagram showing pins installed on the board, and as an example, four pin nodes P1 to P4 are installed on the board.

5A is a diagram illustrating a node for a cable according to an example of the present invention, and FIGS. 5B to 5G show a node for a cable in the drawing.

A cable as shown on the left side of FIG. 5A may be defined as one module for harness work. The cable may be a single wire, and may have various forms in which a plurality of wires are coupled or branched.

As shown in the right side of Figure 5a, the cable module 200 is a plurality of nodes, specifically, a terminal node indicating a terminal of a wire, a pin node through which the wire (Point to Used Pin node), the wire is branched A branch node may include a unit wire representing a single wire wire starting at a predetermined terminal and ending at another terminal, and may include a point to used work node representing a used work node. More information may be included.

FIG. 5B is a diagram showing a terminal node, and as an example, four terminal nodes T1 to T4 for the cable module 200 may be defined. The terminal nodes T1 to T4 refer to ends at which cables are connected to connectors or lugs.

The attribute value for the cable module 200 is a cable ID (Cable ID), and the attribute value for the terminal node is a terminal ID (Teiminal ID), terminal type (Type), location coordinates (x, y), related unit wire information (Associated Unit Wire Pointer) may be included.

FIG. 5C shows pin nodes (Point to Used Pin nodes, P1 to P4) through which the wire passes, which may be the same as the pin node of FIG. 4B . According to an example, the pin node through which the wire passes may be different from the pin node of FIG. 4B , and the number may be small.

FIG. 5D shows the branch node B1 in the drawing, and according to an example, a branch node may be formed between the first pin node and the second pin node.

The attribute value for the branch node may include a branch ID, location coordinates (x, y), and related unit wire information (Associated Unit Wire Pointer).

5e is a unit wire shown in the drawing, the unit wire according to an example has a first terminal node (T1) and a third terminal node (T3) on the drawing as ends, and a second pin node (P2) is passing through

5f is another unit wire shown in the drawing, the unit wire has a second terminal node (T2) and a fourth terminal node (T4) as ends, and a branch node via a second pin node (P2) branched from

The attribute value for the unit wire may include a wire ID (Wire ID), a color (Color), a length (length), and node information (node pointer array) through which a single wire passes. In addition, it may further include work node information (work node pointer array) for the work performed on the unit wire.

FIG. 5G is a diagram showing a node for a tape operation and a tie operation performed on a cable among nodes for describing and specifying the cable module 200 .

The tape operation is to process at least two or more points of a plurality of wires with tape, thereby preventing the wires from flowing down or twisting, and the tie operation refers to the operation of tying the plurality of wires at one point, that is, one node.

At least two or more nodes may be used for the tape operation, and one node is used for the tie operation.

6A is a diagram illustrating a node for a tie according to an example of the present invention, and FIG. 6B is a diagram illustrating a node for a tie.

The attribute value of the tie module 300 may include a tie ID, a color, and node information on which a tie operation is performed (work node pointer).

As described above, the tie operation means tying a wire in one dimension, that is, at one point, and one node (work node pointer) is required for this operation.

7A is a diagram illustrating a node for a tape according to an example of the present invention, and FIG. 7B is a diagram illustrating a node for a tape.

The attribute value of the tape module 400 may include a tape ID, a color, a length, and node information (work node pointer array) on which a tape operation is performed.

As described above, the tape operation means bundling a wire in two dimensions, that is, a line, and for this operation, at least two nodes (work node pointer array), that is, array information about the node is required. It is also possible to connect two or more, that is, three or four points, and when a plurality of nodes are connected, it may be expressed as a straight line or a bent line.

As described above, for the harness plate operation, a pin node included in the board module 100, a terminal node included in the cable module 200, a pin node through which a wire passes, a branch node, a unit wire, etc. are defined and specified The work module 500 that is a work performed on the wire may include the tie module 300 and the tape module 400 .

The work module 500 of FIG. 3 means a node for a task that cannot be included in the board module 100 or any one of the cable modules 200, and as an attribute value, the work node ID (work node ID), the task is Location information (x, y) to be performed, information on the wire on which the operation is performed (Unit Wire), and related wire information (Associated Unit Wire) may be included.

8A is a diagram illustrating a UI for displaying a node according to an example of the present invention, and FIG. 8B is a diagram illustrating graphic control of a node.

According to an example, each data standard drawing element and module may be visually represented as nodes and lines.

A node, that is, a one-dimensional position, may be embodied as a pin node, a terminal node, a branch node, and a tie node of a tie module, and may be displayed in a different shape or color depending on the module as shown in FIG. 8A . According to an example, a node may have a different shape such as a circle, a rectangle, or a triangle, may have a distinguishing mark such as "o" or "x", and the size of a point may be expressed differently.

Fig. 8B shows a graphic control that can change the shape or color of a node, and the user can use this interface to display the node in the drawing so that it can be identified.

9A is a diagram illustrating a UI for displaying a line according to an example of the present invention, and FIG. 9B is a diagram illustrating graphic control of a line.

The line may be embodied as a single wire or a tape module, and a thickness or color may be displayed differently depending on the module as shown in FIG. 9A . Alternatively, the types of lines may have various shapes. It may be expressed as a straight line, a curved line, or various dotted lines.

FIG. 9B shows a graphic control that can change the thickness or color of a line, and a user can use this interface to display the line so that the line is identified.

10 is a control flowchart illustrating a drawing generating method according to an embodiment of the present invention.

First, it is possible to define a plurality of modules for the robot automation-based harness drawing work by analyzing the existing drawing for manual work, that is, a drawing image created manually (S1010).

According to an example, the module may include a board module, a cable module, a tape module, a tie module, and the like.

Then, the module may be embodied as a node indicating a point requiring positioning (S1020).

As described with reference to the drawings, the board module includes a pin node for a pin installed on the board for passing individual wires included in the cable, and the cable module includes a terminal node indicating a terminal of the wire, and the wire passes through. It may include a unit wire indicating a pin node, a branch node to which a wire is branched, and a single wire wire starting at a predetermined terminal and ending at another terminal.

A tape module may be embodied as a work node on which an operation is performed, and the tie module may include a tie node on which an operation is performed.

Then, attribute values for the module and the specified node may be generated based on the drawing image (S1030).

According to an example, the attribute value for the pin node included in the board module may include a pin ID, pin type, location coordinates, and related unit wire information, and the attribute value for the cable module may be a cable ID.

The attribute value for the terminal node embodied in the cable module includes terminal ID, terminal type, location coordinates, and related unit wire information, and the attribute value for the branch node includes branch ID, location coordinates, and related unit wire information, The attribute value for the unit wire may include wire ID, color, length, and node information through which the single wire passes.

In addition, the attribute value of the tape module may include tape ID, color, length, and node information on which a tape operation is performed, and the attribute value of the tie module may include a tie ID, color, and node information on which a tie operation is performed.

When the attribute values for each node and module are set or created in this way, a drawing dedicated to the robot-based harness plate may be generated based on the node and attribute values ( S1040 ).

As described above, according to the present embodiment, a drawing dedicated to a robot operation that can be used in a non-human robot automation environment can be created, and for this purpose, the existing drawing can be read in a language that the robot can recognize, that is, instruct the robot. can be interpreted and structured.

11 is a control block diagram of a drawing generating apparatus according to an embodiment of the present invention.

As shown, the drawing generating apparatus according to the present embodiment includes a module derivation unit 10 for deriving a plurality of modules for a harness drawing work by analyzing a drawing image generated manually, and a point that requires positioning the module A node generating unit 20 embodied as a node representing It may include a drawing generating unit 40 that generates a drawing.

The information defined and generated by each component of FIG. 11 may be the module, node, and attribute value described with reference to FIGS. 3 to 10 .

The module derivation unit 10 may automatically derive each module by analyzing the drawings for manual operation. For this, techniques such as image recognition and feature value extraction may be used, and algorithms such as machine learning or deep learning using massive data may be applied.

The node generating unit 20 may derive one-dimensional point information for position display from the drawing image for manual operation, and specify which module the derived point belongs to. In order to set, materialize, and define a node, the node generator 20 may also utilize an algorithm such as machine learning or deep learning.

The attribute value may be input and set by the user, or the attribute value generating unit 30 may automatically generate each module and node in order to distinguish them.

For example, a different ID may be assigned to each cable, a location may be set, and each node may be expressed in a different color, size, or shape. That is, the attribute value generator 30 may automatically assign attribute values capable of identifying and materializing modules and nodes derived from the drawing image.

The drawing generating unit 40 may generate a drawing dedicated to the robot-based harness drawing plate based on a command based on the attribute value assigned to the node.

For example, the instruction may mark the wire on the board, mark the tape operation, and mark the tie operation so that the actual robot corresponds to arranging, taping, and tying the wire.

Thus, according to an example, finally, a drawing as shown in FIG. 7B may be generated.

12 is a diagram illustrating a computing device according to an embodiment of the present invention. The computing device TN100 of FIG. 12 may be a device (eg, a drawing generating device, etc.) described herein.

In the embodiment of FIG. 12 , the computing device TN100 may include at least one processor TN110 , a transceiver device TN120 , and a memory TN130 . Also, the computing device TN100 may further include a storage device TN140 , an input interface device TN150 , an output interface device TN160 , and the like. Components included in the computing device TN100 may be connected by a bus TN170 to communicate with each other.

The processor TN110 may execute a program command stored in at least one of the memory TN130 and the storage device TN140. The processor TN110 may mean a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to an embodiment of the present invention are performed. The processor TN110 may be configured to implement procedures, functions, and methods described in connection with an embodiment of the present invention. The processor TN110 may control each component of the computing device TN100 .

Each of the memory TN130 and the storage device TN140 may store various information related to the operation of the processor TN110 . Each of the memory TN130 and the storage device TN140 may be configured as at least one of a volatile storage medium and a nonvolatile storage medium. For example, the memory TN130 may include at least one of a read only memory (ROM) and a random access memory (RAM).

The transceiver TN120 may transmit or receive a wired signal or a wireless signal. The transceiver TN120 may be connected to a network to perform communication.

On the other hand, the embodiment of the present invention is not implemented only through the apparatus and/or method described so far, and a program for realizing a function corresponding to the configuration of the embodiment of the present invention or a recording medium in which the program is recorded may be implemented. And, such an implementation can be easily implemented by those skilled in the art from the description of the above-described embodiments.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concept of the present invention as defined in the following claims are also present. It belongs to the scope of the invention.

Claims (10)

In the drawing creation method for the robot-based harness drawing work,
defining a plurality of modules for the harness plate operation;
realizing the module as a node representing a point requiring positioning;
generating attribute values for the module and the node;
and generating a drawing dedicated to a robot-based harness drawing plate based on the node and the attribute value.
The method of claim 1,
wherein the module includes a board module, a cable module, a tape module, and a tie module.
3. The method of claim 2,
The board module includes a pin node for a pin installed on the board for passing through individual wires included in the cable,
The attribute value for the pin node includes a pin ID, pin type, location coordinates, and related unit wire information.
4. The method of claim 3,
The cable module includes a terminal node indicating a terminal of the wire, the pin node through which the wire passes, a branch node to which the wire is branched, and a unit wire indicating a single wire starting at a predetermined terminal and ending at another terminal,
The attribute value for the cable module is a cable ID,
The attribute value for the terminal node includes a terminal ID, terminal type, location coordinates, and related unit wire information,
The attribute value for the branch node includes branch ID, location coordinates, and related unit wire information,
The attribute value for the unit wire includes wire ID, color, length, and node information through which the single wire wire passes.
5. The method of claim 4,
The attribute value of the tape module includes tape ID, color, length, and node information on which tape operation is performed.
5. The method of claim 4,
The attribute value of the tie module includes a tie ID, a color, and node information on which a tie operation is performed.
7. The method according to claim 5 or 6,
The node is a drawing generating method, characterized in that the shape or color is different depending on the module included.
6. The method of claim 5,
The single wire and the tape module, respectively, a drawing generating method, characterized in that the thickness or color is different.
In the drawing generating apparatus for the robot-based harness drawing work,
a module derivation unit for deriving a plurality of modules for harness drawing by analyzing the manually generated drawing image;
a node generating unit that materializes the module as a node indicating a point requiring positioning;
an attribute value generator for generating attribute values for the module and the node based on the drawing image;
and a drawing generator for generating a drawing dedicated to a robot-based harness drawing plate based on the node and the attribute value.
10. The method of claim 9,
The module includes a board module, a cable module, a tape module, and a tie module,
The board module includes a pin node for a pin installed on the board for passing through individual wires included in the cable,
The cable module includes a terminal node indicating a terminal of the wire, the pin node through which the wire passes, a branch node to which the wire is branched, and a unit wire indicating a single wire starting at a predetermined terminal and ending at another terminal,
The attribute value of the tape module includes tape ID, color, length, and node information on which the tape operation is made,
The attribute value of the tie module includes a tie ID, a color, and node information on which a tie operation is performed.

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