CN114441807B

CN114441807B - Wiring method and system

Info

Publication number: CN114441807B
Application number: CN202110832521.3A
Authority: CN
Inventors: 毛欢
Original assignee: Honor Device Co Ltd
Current assignee: Honor Device Co Ltd
Priority date: 2021-07-22
Filing date: 2021-07-22
Publication date: 2023-07-07
Anticipated expiration: 2041-07-22
Also published as: CN114441807A

Abstract

The application provides a wiring method and a wiring system. The wiring system comprises a controller, a mechanical arm, and an industrial camera, a connector and a sensor which are arranged at the tail end of the mechanical arm. 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 the connector to be in contact with the target interface; the controller obtains the contact force between the connector collected by the sensor and the target interface; the controller adjusts the pose of the mechanical arm according to the contact force so as to reduce the contact force; and when the contact force is smaller than the deviation threshold value, the controller controls the mechanical arm to enable the connector to be inserted into the target interface. Therefore, in the technical scheme provided by the application, the controller adjusts the pose of the mechanical arm according to the position information of the target interface acquired by the industrial camera and the contact force acquired by the sensor, so that the high-precision butt joint of the connector and the target interface can be realized rapidly, and the debugging efficiency of the electronic equipment is improved.

Description

Wiring method and system

Technical Field

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

Background

The electronic equipment needs to be subjected to performance debugging before delivery or during maintenance so as to ensure that all functions of the electronic equipment are good, and a user can normally use the electronic equipment. When debugging an electronic device, a debugger needs to establish connection with the electronic device by using a debugging data line in order to acquire debugging data.

For debugging of different performances such as antenna radio frequency conduction and battery charging of the electronic equipment, a debugger needs to connect different debugging data lines with corresponding interfaces on the electronic equipment. For example, when performing radio frequency conduction testing on an antenna of an electronic device, a debugger needs to connect an antenna debug data line with an antenna interface of the electronic device, and when performing charge debugging on the electronic device, the debugger needs to connect the charge debug data line with a charge interface of the electronic device.

In general, when debugging electronic equipment performance, a debugger first needs to place the electronic equipment to be tested on an operation console, then selects a debugging data line according to the performance debugging requirement, finally observes the electronic equipment through naked eyes to find a corresponding interface, and manually inserts the debugging data line into the interface, which requires a long time, resulting in low debugging efficiency. Under the condition that a large number of electronic devices are subjected to performance debugging, if each electronic device is manually connected with different interfaces through a debugger, the debugging efficiency of the whole production line or the maintenance line can be greatly reduced, and the delivery speed of the electronic devices is influenced.

Disclosure of Invention

The application provides a wiring method and a wiring system, which are used for solving the problem that long time is consumed by manual wiring, so that the debugging efficiency of electronic equipment is low.

In a first aspect, the present application provides a wiring method applied to a wiring system, the wiring system including a controller, a mechanical arm, an industrial camera, a connector, and a sensor, the industrial camera, the connector, and the sensor being disposed at an end of the mechanical arm, the controller being coupled to the mechanical arm, the industrial camera, the connector, 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 the connector to be in contact with the target interface; the controller obtains the contact force between the connector collected by the sensor and the target interface; the controller adjusts the pose of the mechanical arm according to the contact force so as to reduce the contact force; and when the contact force is smaller than the deviation threshold value, the controller controls the mechanical arm to enable the connector to be inserted into the target interface.

According to the wiring method, the controller controls the mechanical arm to change the pose according to the position information of the target interface acquired by the industrial camera and the contact force acquired by the sensor, so that the high-precision butt joint of the connector and the target interface can be realized quickly, and the debugging efficiency of the electronic equipment is improved.

In an alternative implementation, the controller adjusts the pose of the robotic arm based on the contact force to reduce the contact force includes: the controller judges whether the contact force is smaller than a deviation threshold value; 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. In this implementation manner, the controller may determine whether the connector is aligned with the target interface by comparing the contact force with the deviation threshold. And the controller can adjust the pose of the mechanical arm according to pose deviation, so that the contact force is smaller than the deviation threshold value, and the connector and the target interface are aligned.

In an alternative implementation, the contact force includes a component of the force between the connector and the target interface along each axis of the three-dimensional coordinate system of the sensor, and a moment of the force between the connector and the target interface about each axis of the three-dimensional coordinate system of the sensor. In the implementation mode, the controller can conduct fine pose adjustment on the mechanical arm from six dimensions according to the contact force, the alignment precision of the connector and the target interface is improved, and high-precision butt joint of the connector and the target interface is achieved.

In an alternative implementation, before the controller calculates the pose deviation according to the contact force, the method further includes: the controller obtains an inertia matrix, a damping matrix, and a stiffness matrix. In the implementation manner, since the contact force model of the position of the mechanical arm and the external environment can be equivalently represented by a second-order 'inertial-damping-spring' system, the pose deviation can be calculated by the controller according to the inertial matrix, the damping matrix, the stiffness matrix and the contact force.

In an alternative implementation, the contact force and pose bias satisfy the following formulas:

wherein F is the contact force, deltaX is the pose deviation, M is the inertia matrix, B is the damping matrix, and K is the rigidity matrix; the pose deviation comprises the translation amount of the connector along each axis on the three-dimensional coordinate system of the sensor and the rotation angle of the connector around each axis on the three-dimensional coordinate system of the sensor.

In an alternative implementation, before determining whether the contact force is less than the deviation threshold, further includes: the controller judges whether the contact force is smaller than a safety threshold value; and 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 connector from the target interface. In the implementation mode, the controller can judge whether the collision occurs between the connector and the target interface or not by comparing the contact force with the safety threshold value, so that the structure of the connector and the target interface is prevented from being damaged, and the contact safety of the connector and the target interface is ensured.

In an alternative implementation, the location information includes two-dimensional planar location information and depth information of the target interface in an industrial camera coordinate system; the controller obtains the position information of the target interface that industry camera gathered, includes: the method comprises the steps that a controller obtains a first image and depth information acquired by an industrial camera, wherein the first image comprises a 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 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 an industrial camera coordinate system according to the depth information and the center point coordinates. In the implementation mode, the controller can acquire three-dimensional coordinate information of the target interface in an industrial camera coordinate system through the industrial camera, and the controller adjusts the pose of the mechanical arm according to the three-dimensional coordinate information so that the connector is in contact with the target interface.

In an alternative implementation, 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 acquires the outline of the target interface from the first image through an edge detection algorithm.

In an alternative implementation, the controller determining the two-dimensional plane position information from the contour includes: the controller calculates two-dimensional plane position information according to the first-order central moment.

In a second aspect, the present application provides a wiring system, the wiring system including a controller, a robotic arm, an industrial camera, a connector, and a sensor, the industrial camera, the connector, and the sensor being disposed at a distal end of the robotic arm, the controller being coupled to the robotic arm, the industrial camera, the connector, and the sensor; the industrial camera is used for collecting the position information of the target interface; the controller is used for acquiring the position information, and controlling the mechanical arm according to the position information so as to enable the connector to be in contact with the target interface; the sensor is used for collecting the contact force between the connector and the target interface; the controller is also used for acquiring the contact force, and adjusting the pose of the mechanical arm according to the contact force so as to reduce the contact force; and the controller is also used for controlling the mechanical arm to enable the connector to be inserted into the target interface when the contact force is smaller than the deviation threshold value.

According to the wiring system, the controller controls the mechanical arm to change the pose according to the position information of the target interface acquired by the industrial camera and the contact force acquired by the sensor, so that the high-precision butt joint of the connector and the target interface can be realized quickly, and the debugging efficiency of the electronic equipment is improved.

In an alternative implementation, the controller is further configured to: judging whether the contact force is smaller than a deviation threshold value or not; if the contact force is greater than or equal to the deviation threshold, calculating pose deviation according to the contact force; and adjusting the pose of the mechanical arm according to the pose deviation so as to reduce the contact force. In this implementation manner, the controller may determine whether the connector is aligned with the target interface by comparing the contact force with the deviation threshold. And the controller can adjust the pose of the mechanical arm according to pose deviation, so that the contact force is smaller than the deviation threshold value, and the connector and the target interface are aligned.

In an alternative implementation, the controller is further configured to obtain an inertia matrix, a damping matrix, and a stiffness matrix. In the implementation manner, since the contact force model of the position of the mechanical arm and the external environment can be equivalently represented by a second-order 'inertial-damping-spring' system, the pose deviation can be calculated by the controller according to the inertial matrix, the damping matrix, the stiffness matrix and the contact force.

In an alternative implementation, the controller is further configured to, prior to determining whether the contact force is less than the deviation threshold: judging whether the contact force is smaller than a safety threshold value or not; and if the contact force is greater than or equal to the safety threshold, controlling the mechanical arm to retract so as to separate the connector from the target interface. In the implementation mode, the controller can judge whether the collision occurs between the connector and the target interface or not by comparing the contact force with the safety threshold value, so that the structure of the connector and the target interface is prevented from being damaged, and the contact safety of the connector and the target interface is ensured.

In an alternative implementation, the location information includes two-dimensional planar location information and depth information of the target interface in an industrial camera coordinate system; the controller is further configured to: acquiring a first image and depth information acquired by an industrial camera, wherein the first image comprises a target interface; matching the first image with a 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 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 an industrial camera coordinate system according to the depth information and the center point coordinates. In the implementation mode, the controller can acquire three-dimensional coordinate information of the target interface in an industrial camera coordinate system through the industrial camera, and the controller adjusts the pose of the mechanical arm according to the three-dimensional coordinate information so that the connector is in contact with the target interface.

In an alternative implementation, the controller is further configured to obtain, from the first image, a contour of the target interface by an edge detection algorithm.

In an alternative implementation, the controller is further configured to calculate the two-dimensional plane location information based on a first order central moment.

Drawings

Fig. 1 is a schematic structural diagram of an antenna interface and a connector according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a charging interface and a connector according to an embodiment of the present application;

FIG. 3 is a block diagram of a wiring system according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a wiring system according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a connector and a sensor according to an embodiment of the present disclosure;

fig. 6 is a schematic diagram of initial positions of a connector and a target interface according to an embodiment of the present application;

fig. 7 is a schematic diagram of a contact between a connector and a target interface according to an embodiment of the present disclosure;

fig. 8 is a schematic diagram of a connector inserted into a target interface according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a target interface according to an embodiment of the present disclosure;

FIG. 10 is a flowchart of a wiring method according to an embodiment of the present application;

Fig. 11 is a flowchart of a method for obtaining, by a controller, target interface position information acquired by an industrial camera according to an embodiment of the present application.

Detailed Description

In the description of the present application, "/" means "or" unless otherwise indicated, for example, a/B may mean a or B. "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. Furthermore, "at least one" means one or more, and "a plurality" means two or more. The terms "first," "second," and the like do not limit the number and order of execution, and the terms "first," "second," and the like do not necessarily differ.

In this application, the terms "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not 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 fashion.

In order to facilitate understanding of the technical scheme of the application, an application scenario of the technical scheme provided by the application is illustrated below with reference to the accompanying drawings.

Performance debugging is required for electronic equipment such as mobile phones and notebook computers before delivery or during maintenance, so that each function of the electronic equipment is good, and a user can use the electronic equipment normally. When debugging personnel debugs the electronic equipment, the debugging data of the electronic equipment are required to be obtained, and whether the performance of the electronic equipment is good or not is judged according to the debugging data. Typically, a debugger needs to establish a connection with an electronic device using a debug data line to obtain debug data of the electronic device. Aiming at different performance debugging such as antenna radio frequency conduction and battery charging of the electronic equipment, a debugger needs to connect different debugging data lines with corresponding interfaces on the electronic equipment, wherein the different debugging data lines are provided with connectors in different shapes.

For example, when conducting radio frequency conduction testing of an antenna of an electronic device, a commissioning person needs to interface an antenna commissioning data line with the antenna of the electronic device. Referring to fig. 1, fig. 1 is a schematic structural diagram of an antenna interface and a connector provided in an embodiment of the present application, as shown in fig. 1, an antenna interface 11 is located at a back of an electronic device, and the antenna interface 11 has a circular hole structure. The antenna connector 12 is located the terminal of antenna debugging data line 13, and the structure of connector 12 cooperatees with the structure of antenna interface 11, and after the connector 12 inserts antenna interface 11, the outer wall of connector 12 can closely laminate with the inner wall of antenna interface 11 to realize the transmission of antenna debugging data.

For example, when charging and debugging an electronic device, a debugger needs to connect a charging and debugging data line with a charging interface of the electronic device. Referring to fig. 2, fig. 2 is a schematic structural diagram of a charging interface and a connector provided in an embodiment of the present application, as shown in fig. 2, the charging interface 21 is located at the bottom of an electronic device, and the charging interface 21 is in a rounded rectangular hole structure. The charging connector 22 is arranged at the tail end of the charging debugging data line 23, the structure of the charging connector 22 is matched with the structure of the charging interface 21, and after the charging connector 22 is inserted into the charging interface 21, the outer wall of the charging connector 22 can be tightly attached to the inner wall of the charging interface 21 so as to realize the transmission of charging debugging data.

In actual work, when debugging personnel perform performance debugging on electronic equipment, the electronic equipment to be tested is firstly required to be placed on an operation desk, then a debugging data line corresponding to the connector is selected according to the requirement of performance debugging, finally an interface which is required to be connected in performance debugging is found by observing the external structure of the electronic equipment through naked eyes, and the debugging data line is manually inserted into the interface. This process takes a long time, resulting in low electronic device debugging efficiency. Under the condition that a large number of electronic devices are subjected to performance debugging, if each electronic device is manually connected with different interfaces through a debugger, the debugging efficiency of the whole production line or the maintenance line can be greatly reduced, and the delivery speed of the electronic devices is influenced.

Based on the above, in order to solve the problem that manual wiring needs to consume a long time, thereby resulting in low debugging efficiency of electronic equipment, the embodiment of the application provides a wiring method. The method can be implemented in the wiring system provided by the application.

The wiring system provided by the embodiment of the application can be applied to wiring with the electronic equipment target interface 100. The electronic devices include, but are not limited to, mobile phones, tablet computers, personal computers, workstation devices, large-screen devices (such as smart screens and smart televisions), wearable devices (such as smart bracelets and smart watches), palm game consoles, household game consoles, virtual reality devices, augmented reality devices, mixed reality devices and the like, vehicle-mounted intelligent terminals and the like, and the application is not limited specifically.

The target interface 100 is an interface to be connected on the electronic device. For example, the present application is not limited specifically, and 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 receiver transmitter (universal asynchronous receiver/transmitter, UART) interface, a mobile industry processor interface (mobile industry processor interface, MIPI), a general-purpose input/output (GPIO) interface, a subscriber identity module (subscriber identity module, SIM) interface, and/or a universal serial bus (universal serial bus, USB) interface, etc.

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

Referring to fig. 3, fig. 3 is a block diagram of a wiring system according to 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, the controller 110 being coupled with the robot arm 120, the industrial camera 130, the connector 140, and the sensor 150.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a wiring system according to an embodiment of the present application. As shown in fig. 4, an industrial camera 130, a connector 140, and a sensor 150 are provided at the end of the robot arm 120. In an alternative implementation, a mounting substrate 121 is also provided at the end of the robotic arm 120, and the industrial camera 130 and sensor 150 are secured to the mounting substrate 121. Optionally, the mounting substrate 121 is provided with a plurality of mounting threaded holes at different positions, and the industrial camera 130 and the sensor 150 can be fixed on the mounting substrate 121 through threaded connection, so that the mounting manner is more flexible, the mounting manner is convenient to detach, and the positions of the industrial camera 130 and the sensor 150 on the mounting substrate 121 can be adjusted according to the use requirement. Also, when the industrial camera 130 and the sensor 150 fail, maintenance and replacement of the industrial camera 130 and the sensor 150 are facilitated.

In this embodiment, the connector 140 is fixed on the sensor 150, so that the sensor 150 obtains the stress condition of the connector 140. Fig. 5 is a schematic structural diagram of a connector and a sensor according to an embodiment of the present application. As shown in fig. 5, alternatively, a plurality of connectors 140 may be provided on the sensor 150, each connector 140 corresponding to a different shaped interface. Therefore, under the condition that multiple performance tests are carried out on the electronic equipment and interfaces in different shapes are required to be connected respectively, the connectors 140 are not required to be replaced, and the connection with the interfaces in different shapes can be realized only by switching to the connectors 140 corresponding to the shapes of the interfaces, so that the applicability of the wiring system provided by the application is further improved.

In this embodiment, the controller 110 is coupled with the robotic arm 120, the industrial camera 130, the connector 140, and the sensor 150. Specifically, the controller 110 may be connected to the mechanical arm 120, the industrial camera 130, the connector 140, and the sensor 150 by wired data lines, or may be connected wirelessly by a wireless communication module, such as a wireless fidelity (wireless fidelity, wi-Fi), bluetooth blue, bluetooth mesh (bluetooth mesh), or the like.

The controller 110 in the embodiment of the present application is configured to obtain the position information of the target interface 100 acquired by the industrial camera 130; according to the position information, the mechanical arm 120 is controlled to enable the connector 140 to be in contact with the target interface 100; acquiring the contact force between the connector 140 and the target interface 100 acquired by the sensor 150; according to the contact force, the pose of the mechanical arm 120 is adjusted to reduce the contact force; when the contact force is smaller than the deviation threshold, the mechanical arm 120 is controlled to insert the connector 140 into the target interface 100.

In this embodiment, referring to fig. 6, fig. 6 is a schematic diagram of initial positions of a connector and a target interface according to an embodiment of the present application. As shown in fig. 6, a certain distance exists between the connection head 140 and the target interface 100 before the connection system performs connection. Therefore, 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 makes the connection head 140 contact with the target interface 100 by controlling the mechanical arm 120. Fig. 7 is a schematic diagram of a contact between a connector and a target interface according to an embodiment of the present application. As shown in fig. 7, the connection head 140 has been in contact with the target interface 100, but the connection head 140 is not inserted into the target interface 100. Next, the contact force between the connector 140 and the target interface 100 acquired by the sensor 150 is acquired, the target interface 100 is precisely positioned according to the contact force, and the pose of the mechanical arm 120 is adjusted to reduce the contact force. Finally, when the contact force is smaller than the deviation threshold, the controller 110 controls the mechanical arm 120 to insert the connector 140 into the target interface 100, so as to realize high-precision docking of the connector 140 and the target interface 100. Fig. 8 is a schematic diagram of a connector inserted into a target interface according to an embodiment of the present application. As shown in fig. 8, the connector 140 has been accurately inserted into the target interface 100.

Therefore, in the wiring system provided by the application, the manipulator 120 is controlled by the controller 110, and the industrial camera 130 and the sensor 150 are combined, so that the high-precision butt joint of the connector 140 and the target interface 100 can be realized rapidly, and the debugging efficiency of the electronic equipment is improved.

It should be noted that, in the process of adjusting the pose of the mechanical arm 120 by the controller 110 according to the contact force, in order to improve the accuracy of the docking between the connector 140 and the target interface 100, the controller 110 may continuously obtain the contact force between the connector 140 and the target interface 100 in real time. However, this increases the amount of data calculated by the controller 110 and the power consumption of the wiring system. In order to reduce the power consumption of the wiring system and improve the wiring efficiency, the controller 110 may acquire the contact force at a certain sampling frequency, or by setting a pose change threshold, when the pose change of the mechanical arm 120 is greater than the pose change threshold, the controller 110 acquires the contact force. The present application is not particularly limited thereto.

In this embodiment, the controller 110 may include one or more processing units, such as: the controller 110 may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), a video codec, a digital signal processor (digital signal processor, DSP), a baseband processor, and/or a neural network processor (neural-network processing unit, NPU), etc. The different processing units may be separate devices or may be integrated in one or more processors, for example, in 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 the controller 110 is a cache memory. The memory may hold instructions or data that the controller has just used or recycled.

The mechanical arm 120 in the embodiment of the present application is configured to adjust the position and the posture according to the control instruction of the controller 110, so that the connector 140 is accurately inserted into the target interface 100. The robot arm 120 is an automated mechanical device capable of receiving an instruction and accurately positioning the robot arm to a certain point in a three-dimensional or two-dimensional space to perform an operation. The mechanical arm is divided into a multi-joint mechanical arm, a rectangular coordinate system mechanical arm, a spherical coordinate system mechanical arm, a polar coordinate mechanical arm, a cylindrical coordinate mechanical arm and the like according to different structural forms. The manipulator 120 in this embodiment is preferably a multi-joint manipulator that can achieve six degrees of freedom, i.e., the manipulator 120 can achieve movement and rotation along the X, Y, and Z axes of its three-dimensional coordinate system. By controlling the movement of the robot arm 120 in six degrees of freedom, the position and posture of the robot arm 120 can be adjusted, thereby changing the position of the connection head 140 provided at the end of the robot arm 120, and realizing the insertion of the connection head 140 into the target interface 100.

The industrial camera 130 in the embodiment of the present application is used to collect the position information of the target interface 100. The industrial camera 130 is a camera that converts optical signals into ordered electrical signals, and has advantages of high image stability, high transmission capability, high anti-interference capability, and the like. In an alternative implementation, the industrial camera 130 is preferably a depth camera, and the positional information collected by the industrial camera 130 includes two-dimensional planar positional information and depth information of the target interface 100 in the industrial camera 130 coordinate system. The depth camera has not only a function of photographing an object image but also a depth measurement function. The distance from each point in the image to the camera of the depth camera can be accurately obtained through the data obtained by the depth camera, and the three-dimensional coordinate value of each point in the image can be obtained by combining the coordinate value of the point in the two-dimensional image. Specifically, the industrial camera 130 may be a structured-light (structured-light) depth camera, a binocular stereoscopic (binocular stereo vision) depth camera, a time of flight (TOF) depth camera, etc., which are not specifically limited herein.

The connector 140 in the embodiment of the present application is configured 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, etc. It is understood that the connector 140 is connected to a data line to realize transmission of debug data. In the present embodiment, the structure of the connector 140 is matched with the structure of the target interface 100, so that the connector 140 does not damage the structure of the target interface 100 after being inserted into the target interface 100, and the connector 140 can realize the function of transmitting data.

The sensor 150 in the embodiment of the present application is used to collect the contact force between the connection head 140 and the target interface 100. In particular, the sensor 150 is a force sensor that converts the magnitude of a force into an associated electrical signal. In an alternative implementation, sensor 150 is preferably a six-dimensional force sensor, which is a sensor capable of measuring forces and moments in three directions, the X-axis, the Y-axis, and the Z-axis simultaneously. In the present embodiment, the contact force collected by the sensor 150 includes components of the force between the connector 140 and the target interface 100 along each axis in the three-dimensional coordinate system of the sensor 150, and moments of the force between the connector 140 and the target interface 100 around each axis in the three-dimensional coordinate system of the sensor 150.

In an alternative implementation, the controller 110 is further configured to: judging whether the contact force is smaller than a deviation threshold value or not; if the contact force is greater than or equal to the deviation threshold, calculating pose deviation according to the contact force; the pose of the mechanical arm 120 is adjusted according to the pose deviation 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 achieve high-precision docking between the connector 140 and the target interface 100. Whether the connector 140 is aligned with the target interface 100 may be understood as whether the central axis of the connector 140 coincides with the central axis of the target interface 100. If the contact force is less than the deviation threshold, indicating that the connector 140 is already aligned with the target interface 100, the connector 140 may be inserted into the target interface 100. If the contact force is greater than or equal to the deviation threshold, it indicates that the connector 140 is not aligned with the target interface 100, and there is a deviation in the position, the pose deviation needs to be calculated according to the contact force, and the pose of the mechanical arm 120 is adjusted according to the pose deviation, and the contact force between the connector 140 and the target interface 100 acquired by the sensor 150 is acquired again until the contact force is less than the deviation threshold.

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

In an alternative implementation, the controller 110 is further configured to obtain an inertia matrix, a damping matrix, and a stiffness matrix before the controller 110 calculates the pose bias from the contact force. In this embodiment, the contact force model between the position of the mechanical arm 120 and the external environment can be equivalently represented by a second-order "inertial-damping-spring" system. Specifically, the relationship between the position of the mechanical arm 120 and the contact force of the external environment is represented by the inertia matrix, the damping matrix and the stiffness matrix from the aspects of inertia, damping and springs, respectively, so that the inertia matrix, the damping matrix and the stiffness matrix are first obtained before the pose deviation is calculated according to the contact force. The inertia matrix, the damping matrix and the stiffness matrix are constant matrices, and the values of the three matrices are related to the mechanical arm 120 and the external environment and need to be adjusted to proper values through experiments. The values of the inertia matrix, the damping matrix and the stiffness matrix are not limited.

wherein F is the contact force, deltaX is the pose deviation, M is the inertial matrix, B is the damping matrix, and K is the stiffness matrix.

Specifically, the expression after F expansion is:

where Fx, fy, and Fz represent components of the force between the joint head 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, respectively, and Tx, ty, and Tz represent moments of the force between the joint head 140 and the target interface 100 about the X-axis, Y-axis, and Z-axis of the three-dimensional coordinate system of the sensor 150, respectively.

The expression after Δx expansion is:

wherein Δx, Δy, and Δz represent the amounts of translation of the joint 140 along the X-axis, Y-axis, and Z-axis of the three-dimensional coordinate system of the sensor 150, respectively, and Δα, Δβ, and Δγ represent the rotational angles of the joint 140 about the X-axis, Y-axis, and Z-axis of the three-dimensional coordinate system of the sensor 150, respectively.

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 by numerical iteration solution, and the expression of the specific iteration process is as follows:

where λ is the iteration period, and n is the number of iterations.

It should be noted that, the contact force collected by the sensor 150 is in the three-dimensional coordinate system of the sensor 150, so that in order to facilitate the controller 110 to accurately adjust the pose of the mechanical arm 120 according to the pose deviation, the pose deviation needs to be converted into a coordinate system for controlling the pose of the mechanical arm, for example, a base coordinate system or a world coordinate system of the mechanical arm 120. Specifically, the contact force may be first converted from the three-dimensional coordinate system of the sensor 150 to the coordinate system for controlling the pose of the mechanical arm, and then the pose deviation may be calculated according to the contact force, so that the obtained pose deviation is in the coordinate system for controlling the pose of the mechanical arm. Alternatively, the pose deviation is first calculated according to the contact force, where the pose deviation is in the three-dimensional coordinate system of the sensor 150, and then the pose deviation is converted from the three-dimensional coordinate system of the sensor 150 to the coordinate system for controlling the pose of the mechanical arm.

In an alternative implementation, before determining whether the contact force is less than the deviation threshold, the controller 110 is further configured to: judging whether the contact force is smaller than a safety threshold value or not; if the contact force is greater than or equal to the safety threshold, the control arm 120 is retracted to disengage the connector 140 from the target interface 100.

In the present embodiment, before the controller 110 adjusts the pose of the mechanical arm 120 according to the contact force, the controller 110 first determines whether the contact force is less than the safety threshold, so as to prevent the connector 140 from colliding with the target interface 100 to cause structural damage. Specifically, if the contact force is greater than or equal to the safety threshold, which indicates that the contact force between the connector 140 and the target interface 100 is greater, the collision between the connector 140 and the target interface 100 may occur, and the controller 110 needs to timely control the mechanical arm 120 to retract, so that the connector 140 and the target interface 100 are separated, and the structure of the connector 140 or the target interface 100 is prevented from being damaged. If the contact force is less than the safety threshold, which indicates that the contact force between the connector 140 and the target interface 100 is within the safety range, the controller 110 may further finely adjust the pose of the mechanical arm 120 by determining whether the contact force is less than the deviation threshold, so as to align the connector 14 with the target interface 100.

The safety threshold is determined according to actual requirements. In order to ensure the safety of the contact between the connector 140 and the target interface 100, the safety threshold is greater than the deviation threshold. In some embodiments, the safety threshold preference ranges for the force between the connector 140 and the target interface 100 along the components of each axis on the three-dimensional coordinate system of the sensor 150 are: 10N-15N, the preferred range of values for the safety threshold for the moment of force between the connector 140 and the target interface 100 about each axis on the three-dimensional coordinate system of the 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, the contact force between the connection head 140 and the target interface 100 can be considered safe.

In an alternative implementation, the location information includes two-dimensional planar location information and depth information of the target interface 100 in the industrial camera 130 coordinate system. The controller 110 is also configured to: acquiring a first image and depth information acquired by the industrial camera 130, the first image comprising the target interface 100; matching the first image with a pre-stored second image to obtain the outline of the target interface 100 from the first image; determining two-dimensional plane position information according to the contour, wherein the two-dimensional plane position information comprises the center point coordinates of the contour; three-dimensional coordinate information of the target interface 100 in the industrial camera 130 coordinate system is obtained from the depth information and the center point coordinates.

In this embodiment, please refer to fig. 9, fig. 9 is a schematic diagram of a target interface 100 according to an embodiment of the present application. As shown in fig. 9, a plurality of interfaces are provided on the electronic device, but the connection head 140 is connected only to the target interface 100 therein. The industrial camera 130 first collects the external structure of the whole electronic device, and the first image collected by the industrial camera 130 not only includes the image of the target interface 100, but also may include other interface images on the electronic device. Thus, 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, and the first image and the second image are matched, so that the target interface 100 can be accurately found, and the outline of the target interface 100 is extracted for determining the two-dimensional plane position information of the target interface 100, wherein the two-dimensional plane position information of the target interface 100 is represented by the center point coordinate of the outline.

In some embodiments, before the wiring system performs wiring on the target interface 100, a plurality of second images may be stored in advance, where each second image corresponds to a different image of the target interface 100, and it should be noted that, in this case, the wiring system also includes a plurality of connectors 140 corresponding to the target interface 100. The target interfaces 100 corresponding to the second image may be sequentially matched according to the first image acquired by the industrial camera 130, and the connectors 140 corresponding to the target interfaces 100 may be selected for connection. Thus, not only can the adaptability of the wiring system provided by the embodiment of the application be increased, but also the wiring efficiency can be further improved.

In an alternative implementation, the controller 110 is further configured to obtain, by using an edge detection algorithm, the contour of the target interface 100 from the first image. The edge detection algorithm is an algorithm that can extract edges in an image by identifying points in the digital image where the brightness changes significantly. 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. The specific algorithm used for edge detection is not particularly limited in this application.

In an alternative implementation, the controller 110 is further configured to calculate the two-dimensional plane location information based on the first-order central moment. In this embodiment, since the spatial moment of the two-dimensional image is substantially an area, the center point coordinates of a certain contour pattern in the two-dimensional image can be calculated by the first moment. The controller 110 determines the two-dimensional plane position information according to the contour through first-order central moment calculation, and then obtains the central point coordinates of the contour. The coordinates of the center point of the profile are used for preliminary positioning of the target interface 100, and the controller 110 controls the mechanical arm 120 according to the coordinates of the center point of the profile, so that the connection head 140 contacts the target interface 100.

The embodiment of the application also provides a wiring method which can be applied to any wiring system provided by the embodiment of the application. Referring to fig. 10, fig. 10 is a flowchart of a wiring method according to an embodiment of the present application. As shown in fig. 10, the method includes steps S101 to S108:

step S101: the controller 110 acquires the position information of the target interface 100 acquired by the industrial camera 130.

In a specific implementation, the industrial camera 130 is configured to collect position information of the target interface 100, and the controller 110 obtains the position information and is configured to adjust the position of the mechanical arm 120, so that the connector 140 contacts the target interface 100.

In an alternative implementation, the industrial camera 130 is preferably a depth camera, and the positional information includes two-dimensional planar positional information and depth information of the target interface 100 in the industrial camera 130 coordinate system. Referring to fig. 11, fig. 11 is a flowchart of a method for obtaining target interface position information collected by an industrial camera by using a controller according to an embodiment of the present application. As shown in fig. 11, step S101 specifically includes the steps of:

step S201: the controller 110 obtains a first image acquired by the industrial camera 130, the first image including the target interface 100, and depth information. In this embodiment, the position information of the target interface 100 is three-dimensional coordinate information, specifically, two-dimensional plane position information of the target interface 100 in the industrial camera coordinate system can be obtained according to the first image, and the two-dimensional plane position information and the depth information collected by the industrial camera 130 are combined together to form the position information of the target interface 100. 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 a pre-stored second image to obtain the outline of the target interface 100 from the first image.

The first image may not only include the image of the target interface 100, but may also include other interface images on the electronic device, so the first image needs to be matched with the second image stored in advance 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 may be stored in advance, where each second image corresponds to a different image of the target interface 100, so that a plurality of different target interfaces 100 may be connected respectively, which not only may increase applicability of the wiring method provided in the embodiments of the present application, but also may further improve wiring efficiency.

In an alternative implementation, the controller 110 obtains 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 the image by identifying points in the digital image where the brightness changes significantly. 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. The specific algorithm used for edge detection is not particularly limited in this application.

Step S203: the controller 110 determines two-dimensional plane position information from the contour, the two-dimensional plane position information including center point coordinates of the contour. In the present embodiment, the two-dimensional plane position information of the target interface 100 is represented by the center point coordinates of the outline.

In an alternative implementation, the controller 110 calculates the two-dimensional plane position information from a first order central moment.

In a specific implementation, because the space moment of the two-dimensional image is substantially an area, the coordinates of the central point of a certain contour graph in the two-dimensional image can be calculated through the first moment. The controller 110 determines the two-dimensional plane position information according to the contour through first-order central moment calculation, and then obtains the central point coordinates of the contour. The center point coordinates of the contour are used in combination with depth information for preliminary positioning of the target interface 100.

Step S204: the controller 110 obtains 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. Step S102: the controller 110 controls the mechanical arm 120 according to the position information, so that the connection head 140 contacts the target interface 100.

In 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, and the connector 140 contacts the target interface 100, so that the controller 110 can accurately position the target interface 100, and high-precision docking between the connector 140 and the target interface 100 is realized.

Step S103: the controller 110 acquires the contact force between the connection head 140 and the target interface 100 acquired by the sensor 150.

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

In an alternative implementation, the sensor 150 is preferably a six-dimensional force sensor, and the contact force captured by the sensor 150 includes components of the force between the connector 140 and the target interface 100 along axes in the three-dimensional coordinate system of the sensor 150, and moments of the force between the connector 140 and the target interface 100 about axes in the three-dimensional coordinate system of the sensor 150.

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

In a specific implementation, by setting a safety threshold, the controller 110 may determine whether the contact force is too large or not, and exceeds the safety range according to the safety threshold. In this way, the contact force is excessive to damage the structures of the connector 140 and the target interface 100, which is caused by the collision of the connector 140 and the target interface 100.

Step S105: if the contact force is greater than or equal to the safety threshold, the controller 110 controls the mechanical arm 120 to retract, so that the connection head 140 and the target interface 100 are separated.

In particular, if the contact force is greater than or equal to the safety threshold, which indicates that the contact force between the connector 140 and the target interface 100 is greater, the collision between the connector 140 and the target interface 100 may occur, and the controller 110 needs to timely control the mechanical arm 120 to retract, so that the connector 140 and the target interface 100 are separated, and the structure of the connector 140 or the target interface 100 is prevented from being damaged. After the mechanical arm 120 is retracted, the controller 110 acquires the position information of the target interface 100 acquired by the industrial camera 130 again, and controls the mechanical arm 120 again according to the position information, so that the connector 140 contacts with 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 particular, if the contact force is less than the safety threshold, it is indicated that the contact force between the connector 140 and the target interface 100 is within a safe range. The controller 110 may further finely adjust the pose of the mechanical arm 120 by determining whether the contact force is less than the deviation threshold, and align the connector 14 with the target interface 100. Specifically, whether the connector 140 is aligned with the target interface 100 can be determined by comparing the contact force with the deviation threshold, so as to achieve high-precision docking between the connector 140 and the target interface 100. Whether the connection head 140 is aligned with the target interface 100 may be understood as whether the central axis of the connection head 140 coincides with the central axis of the target interface 100.

The deviation threshold value is determined according to the actual application scenario and the requirement of the docking precision. If the connector 140 is perfectly aligned with the prototype interface 100, the contact force in each dimension should be close to zero, so the smaller the deviation threshold value, the higher the accuracy of the alignment of the connector 140 with the prototype interface 100. In some embodiments, the bias threshold preference value range for the force between the connector 140 and the target interface 100 along the components of each axis on the three-dimensional coordinate system of the sensor 150 is: 1N-1.5N, the preferred range of the deviation threshold values of the moment of the force between the connector 140 and the target interface 100 around each axis on the three-dimensional coordinate system of the sensor 150 is: 0.01Nm-0.015Nm. When the deviation threshold value is within the above preferred value range, if the contact force is smaller than the deviation threshold value, it may be considered that the connector 140 is approximately aligned with the target interface 100, and the connector 140 may 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 robot arm 120 according to the contact force to reduce the contact force.

In a specific implementation, if the contact force is greater than or equal to the deviation threshold, it is indicated that the connector 140 is not completely aligned with the target interface 100, and the position is still deviated, so that the pose of the mechanical arm 120 needs to be adjusted again according to the contact force, so as to achieve accurate positioning of the connector 140 and the target interface 100. In step S107, the controller 110 adjusts the pose of the mechanical arm 120 according to the contact force, including the steps of:

Step S301: the controller 110 calculates the pose deviation from the contact force.

In an alternative implementation, the controller 110 first obtains an inertia matrix, a damping matrix, and a stiffness matrix.

In particular implementations, the contact force model of the position of the mechanical arm 120 with the external environment can be equivalently represented by a second-order "inertial-damping-spring" system. Specifically, the relationship between the position of the mechanical arm 120 and the contact force of the external environment is represented by the inertia matrix, the damping matrix and the stiffness matrix from the aspects of inertia, damping and springs, respectively, so that the inertia matrix, the damping matrix and the stiffness matrix are first obtained before the pose deviation is calculated according to the contact force. The inertia matrix, the damping matrix and the stiffness matrix are constant matrices, and the values of the three matrices are related to the mechanical arm 120 and the external environment and need to be adjusted to proper values through experiments. The values of the inertia matrix, the damping matrix and the stiffness matrix are not limited.

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 by numerical iteration solution, where the expression of the specific iteration process is as follows:

where λ is the iteration period, and n is the number of iterations.

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

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

Step S108: if the contact force is less than the deviation threshold, the controller 110 controls the robot arm 120 to insert the connection head 140 into the target interface 100.

In particular, if the contact force is less than the deviation threshold, indicating that the connector 140 is aligned with the target interface 100, the controller 110 may control the mechanical arm 120 to insert the connector 140 into the target interface 100.

According to the wiring method provided by the embodiment of the application, the controller 110 firstly acquires the position information of the target interface 100 acquired by the industrial camera 130, performs preliminary positioning on the target interface 100 according to the position information, and enables the connector 140 to be in contact with the target interface 100 by controlling the mechanical arm 120. Then, the controller 110 obtains the contact force between the connector 140 and the target interface 100, which is acquired by the sensor 150, and accurately positions the target interface 100 according to the contact force, so as to reduce the contact force by adjusting the pose of the mechanical arm 120. Finally, when the contact force is smaller than the deviation threshold, the controller 110 controls the mechanical arm 120 to insert the connector 140 into the target interface 100, so as to realize high-precision docking of the connector 140 and the target interface 100. Therefore, according to the technical scheme provided by the application, the mechanical arm 120 is controlled by the controller 110, and the industrial camera 130 and the sensor 150 are combined, so that the high-precision butt joint of the connector 140 and the target interface 100 can be realized rapidly, and the debugging efficiency of the electronic equipment is improved.

Embodiments of the present application also provide a computer storage medium having stored therein computer instructions that, when executed on a computer, cause the computer to perform the methods of the above aspects.

Embodiments of the present application also provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the methods of the above aspects.

The application also provides a chip system. The system-on-a-chip comprises a processor for supporting the apparatus or device to implement the functions involved in the above aspects, e.g. to generate or process information involved in the above methods. In one possible design, the system on a chip also includes a memory to hold the program instructions and data necessary for the above modules or devices. The chip system can be composed of chips, and can also comprise chips and other discrete devices.

The foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the foregoing is by way of illustration and description only, and is not intended to limit the scope of the invention.

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

Claims

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, the liquid crystal display device comprises a liquid crystal display device,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 liquid crystal display device comprises a liquid crystal display device,

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;

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, the liquid crystal display device comprises a liquid crystal display device,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.